WO2020084111A2 - Dispositif de charge automatique d'un véhicule, notamment d'un véhicule électrique - Google Patents

Dispositif de charge automatique d'un véhicule, notamment d'un véhicule électrique Download PDF

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Publication number
WO2020084111A2
WO2020084111A2 PCT/EP2019/079160 EP2019079160W WO2020084111A2 WO 2020084111 A2 WO2020084111 A2 WO 2020084111A2 EP 2019079160 W EP2019079160 W EP 2019079160W WO 2020084111 A2 WO2020084111 A2 WO 2020084111A2
Authority
WO
WIPO (PCT)
Prior art keywords
connector
robot
plug
vehicle
charging
Prior art date
Application number
PCT/EP2019/079160
Other languages
German (de)
English (en)
Other versions
WO2020084111A3 (fr
Inventor
Albrecht Hoene
Gernot Nitz
Norbert Settele
Günther SCHULZE
Original Assignee
Kuka Deutschland Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Kuka Deutschland Gmbh filed Critical Kuka Deutschland Gmbh
Priority to EP19794540.5A priority Critical patent/EP3870410A2/fr
Publication of WO2020084111A2 publication Critical patent/WO2020084111A2/fr
Publication of WO2020084111A3 publication Critical patent/WO2020084111A3/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/008—Manipulators for service tasks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0019—End effectors other than grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0004—Braking devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/06—Safety devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/30—Constructional details of charging stations
    • B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
    • H01R13/00—Details of coupling devices of the kinds covered by groups H01R12/70 or H01R24/00 - H01R33/00
    • H01R13/62—Means for facilitating engagement or disengagement of coupling parts or for holding them in engagement
    • H01R13/639—Additional means for holding or locking coupling parts together, after engagement, e.g. separate keylock, retainer strap
    • H01R13/6397—Additional means for holding or locking coupling parts together, after engagement, e.g. separate keylock, retainer strap with means for preventing unauthorised use
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/12—Electric charging stations
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/14—Plug-in electric vehicles

Definitions

  • the invention relates to a device for the automated loading of a
  • Vehicle in particular electric vehicle and an associated charging plug of a vehicle, in particular electric vehicle.
  • Fuel cells generally consume liquid or gaseous fuels i.e. Fuels that can be refilled in a tank of the vehicle. Such refilling is done by refueling at a petrol pump at a petrol station.
  • the petrol pump forms a device for charging i.e. for refueling the motor vehicle with the liquid or gaseous fuel.
  • Newer types of vehicles such as electric vehicles, have an electric main drive or an electric auxiliary drive in the case of hybrid motors, and an electrical storage device, such as an accumulator or a battery, which has to be charged.
  • electrical charging generally takes place in a manner analogous to the refueling of a motor vehicle
  • Battery-powered electric vehicles can be “filled up” with electrical energy by means of a charging plug of a charging device.
  • the charging plug which functions as a fuel nozzle on a fuel pump, can be inserted automatically by a robot, for example in one
  • Safety technology such as monitoring the robot's work area with cameras or other sensors.
  • Safety monitors are dependent on safe controls, on safe communication, on one Safe torque off (Safe Torque Off) or safe control of brakes (Safe Brake Control).
  • Safe Torque Off Safe Torque Off
  • Safe Brake Control Safe Brake Control
  • the object of the invention is to provide a robot for charging or refueling a vehicle, which is technically simple, inexpensive and material-saving to manufacture and inherently safe, so that people are not endangered by the operation of the robot.
  • One aspect of the invention relates to a robot for automatically loading or refueling a vehicle, comprising:
  • the robot arm has a plurality of links, which are relative to one another via one or more positioning joints and associated positioning drives are adjustable relative to one another in order to position the end effector in the room by applying a maximum positioning force
  • the robot arm has one or more push joints, and in particular associated push drives,
  • the connector at least partially in a complementary
  • Connector of a vehicle can be plugged in with a maximum insertion force
  • the positioning and the insertion of the connector can advantageously be carried out separately from one another.
  • the positioning which comprises a larger spatial movement of the end effector arranged on the robot arm at higher speeds, can be done with a lower maximum
  • Positioning force take place than the plug-in process, in which a larger maximum plug-in force can be applied and in which a smaller spatial displacement preferably takes place at lower speeds relative to the positioning of the end effector. Therefore, the positioning can inherently be designed safely.
  • the robot has a robot arm with several links. These links can be essentially rigid, for example made of aluminum, plastic or another material.
  • the positioning joints that connect these links can be swivel joints or sliding joints.
  • the links can be adjusted by means of the positioning joints, that is to say displaced or moved relative to one another, the adjustment being able to include both rotating or rotating about an axis of rotation and also displacement along a thrust axis.
  • the robot can be mounted in a fixed position, the robot arm having a proximal link, which can also be designed or referred to as a base or is connected to a base, and a distal link, which is located at the end of the robot arm that is opposite, preferably free, from the base is arranged.
  • a proximal link which can also be designed or referred to as a base or is connected to a base
  • a distal link which is located at the end of the robot arm that is opposite, preferably free, from the base is arranged.
  • On the robot arm preferably on the distal link or as a distal link, there is a
  • the end effector can have a connector or be designed as a connector.
  • the end effector must be positioned in the room to charge or refuel the vehicle, for example from a parking position in which the robot saves space between two charging or
  • Refueling processes remains in a loading or refueling position, in which the connector of the end effector with the complementary connector of the
  • Positioning can endanger people who are within range of the robot, for example if the robot arm collides with the human body.
  • the maximum force that can occur in the event of a collision with a human being during the positioning of the robot arm (the maximum positioning force) is smaller than the maximum plug-in force that can be applied when the connector is inserted, as a result of which the robot is inherently safer against hazards to people during positioning is created.
  • the positioning drives which adjust the positioning joints can be designed such that one or more positioning drives fail non-destructively or not non-destructively when the maximum positioning force is reached (for example in the event of a collision).
  • the positioning drives can be units consisting of a motor and gearbox with or without a slip clutch.
  • the motor can be designed to perform poorly in order to remain below a predetermined torque and thus the resulting maximum positioning force.
  • the material and / or the construction of the gear mechanism can be so weak that, for example, meshing teeth of the gear mechanism slip or break away when the maximum positioning force is exceeded.
  • one or more Gear units of the positioning drives can be made essentially of plastic.
  • the inherent safety can thus be implemented in a simple and cost-effective manner, and depending on the design, irreparable damage to the robot can optionally occur.
  • the maximum positioning force is preferably less than 210 N, preferably less than 180 N or 160 N, more preferably less than 140 N or 110 N and in particular less than 65 N or 60 N. Collisions of the End effector or the robot arm with the back and shoulder of a human be done essentially safely. For lower maximum positioning forces between approximately 1 10 N and approximately 180 N, a collision with the hands, arms, legs and chest is essentially without risk. For maximum positioning forces less than about 65 N or about 60 N, all body regions of a person can collide with the robot arm essentially without danger.
  • the connector and the complementary connector are electrical connectors.
  • the connector can be a socket or charging socket or connector, while the complementary connector is a plug or
  • Charging plug or an inlet of the vehicle can be.
  • the maximum insertion force is preferably greater than the maximum positioning force times a factor of 1, 1 or 1, 25 or 1.5, preferably times a factor of 2.0, more preferably times a factor 4.0 and in particular times a factor 8.0 .mu.m to allow the connector to be securely inserted and removed.
  • the maximum insertion force is more than about 60 N or about 65 N, preferably more than 75 N, particularly preferably more than 100 N or more than 125 N and in particular more than 150 N.
  • the loading robot can be designed with weaker drives and a less stiff and therefore lighter mechanism, which reduces material and manufacturing costs. Further advantageously, the structure of the loading robot can endanger persons and advantageously without further safety devices.
  • One, several or all axes i.e. those powered by the motors
  • Positioning joints of the robot arm can be inherently safe.
  • the positioning joints of the robot arm can be inherently safe, for example, by the limbs of the robot arm, which can in particular be a kick arm robot, a six-axis or seven-axis kick arm robot or a SCARA robot, or a combination also a linear axis and
  • the positioning joints of the robot arm can alternatively or additionally be designed to be inherently safe by constructing the motors, in particular electric motors of the robot arm, with such a low maximum current consumption, i.e. the design-related maximum power / power of the motors is so low that the links of the robot arm despite the maximum power of the
  • the positioning joints of the robot arm can be designed to be inherently secure by the fact that the gears assigned to the positioning joints do not have any higher ones due to the design
  • Collision forces on the limbs of the robot arm can lead as the maximum positioning force.
  • the positioning joints of the robot arm can alternatively or additionally be designed to be inherently secure by the
  • Positioning joints assigned to gearbox clutches are assigned when a torque is exceeded, individually or in total with others
  • Positioning joints or links could lead to greater collision forces than the maximum positioning force on the links of the robot arm, ie disengage interrupt transmission of torques by the assigned gear.
  • the positioning joints of the robot arm can be designed to be inherently secure, in that the robot arm is preferably designed as a SCARA robot, so that the SCARA robot predominantly or exclusively has axes of rotation that are always oriented vertically. In such a configuration with axes of rotation always oriented vertically, in order to compensate for the
  • Weight forces of the limbs of the robot arm are not used for the motors of the robot arm, but rather the weight forces of the limbs of the robot arm can be transmitted and intercepted via mechanical bearing points. This means that no driving forces of the motors are required to maintain the respective current height of the limbs of the robot arm.
  • the motors can be designed with a correspondingly lower output, i.e. “smaller”, “weaker” motors can be used.
  • the connector can be designed as a pipe end piece, in particular a fuel nozzle, and the complementary connector can be designed as a tank connector if the vehicle is running with liquid fuels and fuels such as
  • At least one sliding joint has an associated one
  • the linear actuator is particularly preferably designed as an actuator in or on the connector of the robot.
  • the thrust joint can be designed in a simple manner and the actuator of the connector can shift it along the degree of freedom provided by the thrust joint.
  • at least one thrust joint has an associated complementary actuator in or on the connector of the robot, which is designed to be actuated by an actuator of the complementary connector.
  • the robot can advantageously be of a simpler design, since it is not the robot, but the complementary connector, and thus in particular the vehicle to be loaded, that can exert the force to reach the plug end position.
  • the at least one thrust joint can be used alternatively or additionally a drive or linear drive can be formed, in particular in order to displace the connector of the robot along a direction S by means of the sliding joint.
  • the robot preferably also has:
  • contact means an electrical contact if it is an electrical connector, in particular so that the vehicle can be charged electrically, or a fluid contact if it is a pipe end piece so that the vehicle is refueled or can be filled.
  • mechanical contact in the sense of a frictional engagement or intervention can also occur.
  • the robot is preferably designed and configured to use the positioning drives to move the robot arm from a parking position to a plug-in preposition and to move the robot arm from the plug-in preposition to a plug-in position by means of the linear actuator or the push drives.
  • the tasks of the drives are thus advantageously separated, as a result of which weak drives (only) are activated for the positioning, as described above, while a strong drive or several strong drives (only) are / are activated for the insertion.
  • the plug pre-position is preferably taken to connect the connector to the complementary connector.
  • the pre-position describes a pose of the robot arm and / or a position or orientation of the end effector or the connector, in particular relative to the complementary connector, in which the following properties apply: a) Connectors and complementary connectors are not in a contact that enables charging or refueling; b) the distance between connector and complementary connector is so small that none
  • the shift from the plug-in preposition to the plug-in end position essentially takes place by means of a linear shift or pushing or plugging the connector in the direction of the complementary connector.
  • the connector and the complementary connector can definitely make mechanical contact with one another or the distance between the two is less than 10 mm, preferably less than 5 mm or
  • the robot preferably has a robot control device which is designed for the positioning drive (s) and / or the or
  • the drives are preferably controlled or regulated by electrical signals or currents, for which purpose the drives are expediently carried out indirectly or directly with the
  • Robot controls are electrically connected.
  • the robot is preferably designed and configured to move the robot arm from the parking position to a plug-in preposition by means of the positioning drives and to move the robot arm from the plug-in preposition to a plug-in end position by means of the push drive or the push drives.
  • the linear actuator is preferably or the linear actuators are in one
  • Coupling device arranged or integrated, which carries the connector and which is arranged at the distal end of the robot arm.
  • the distal end of the robot arm can preferably be designed as a flange, as a result of which the end effector or connector can advantageously be replaced in a simple manner.
  • the coupling device can then be attached to this flange.
  • a predetermined breaking point can be arranged, which prevents damage to the robot arm if there is a collision with the connector or end effector or an overload when moving from the plug position to the
  • the coupling device can be brought into a position in which the connector carried by the coupling device is in the plug pre-position by controlling the motors of the robot arm by means of the robot control device due to the movement of the robot arm, and by controlling the thrust drive in the coupling device, the coupling device can remove the connector from move its plug pre-position into the plug end position.
  • One of the at least one thrust drive is preferably of
  • the robot preferably has a holder which supports the connector and which is connected to the penultimate link of the robot arm at the distal end, the connector arranged on the holder being movable from the pre-insertion position into the insertion end position by means of the pusher drive.
  • the robot arm preferably has a flange at its distal end, the flange of the robot arm being coupled to an actuator which
  • the holder can further preferably be designed in some areas as a handle, with the holder and connector being particularly preferably formed in one piece and forming a connector or charging socket which can also be handled manually.
  • one of the at least one linear actuator is integrated in an adjustable platform that carries the robot arm.
  • the connector can be attached to the flange or distal end of the robot arm and by controlling the motors of the robot arm by means of the robot control device due to the movement of the robot arm, the connector can be brought into a position in which the connector is in the plug-in preposition.
  • the connector can be moved from its pre-plug position to the plug end position by the linear actuator moving the adjustable platform so that the robot arm is moved together with the connector to the plug end position.
  • the robot control device is preferably designed and set up while being executed by the at least one linear actuator
  • Robot arm on an associated brake which brakes an adjustment of the associated positioning joint in a closed position, each brake being controllable by means of the robot control device in order to switch from an open position to the closed position or to switch from the closed position to the open position.
  • Robot arm on an associated lock which locks an adjustment of the associated positioning joint in a closed position
  • each lock being controllable by means of the robot control device in order to switch an open position to the closed position or to switch from the closed position to the open position.
  • the braking or blocking against adjustment is preferably carried out on an output element of a joint transmission which moves the respective positioning joint.
  • at least one of the brakes or locks controlled by the robot controller is assigned a safety relay, which is set up to hold the brake or lock in its closed position in its closed position using safe technology in its closed position.
  • At least one of the positioning drives or thrust drives preferably has a worm gear, which is designed to transmit the drive torque of the connected motor to the associated joint, the motor being coupled to the driving worm of the worm gear and the joint to be moved to the one driven by the worm Worm wheel is coupled, so that in the event of a torque acting back on the respective joint against the drive movement of the motor, it becomes one
  • the connector can have a connector housing and the corresponding receptacle on the vehicle or the complementary connector (the terms “corresponding receptacle” and “complementary connector” are used in the following synonym) have a receptacle housing, the connector housing of the connector and that Receiving housing of the receptacle corresponding to the connector on the vehicle are designed to form a maximum gap of at most 5 millimeters in the plug-in preposition of the connector, in particular that
  • Connector housing and / or the receptacle housing has an apron, which covers a gap remaining in the plug-in preposition of the connector between the connector and the receptacle on the vehicle against engaging or reaching in when the connector is in the plug-in position.
  • the device for automatically charging or refueling a vehicle can also be referred to as a tank robot or loading robot.
  • the movement of the loading robot can preferably be divided into two sections. First, in a positioning run that requires only minimal forces, since only the charging robot and the charging socket, including the charging cable, are moved.
  • the positioning run can be carried out with positioning drives or gearboxes or positioning joints that are intrinsically safe, that is, preferably with drives and / or joints that are mechanically weak in such a way that a collision with a person results in a mechanical yielding of the drive or joint or gears leads before
  • Back-drivable gears and / or direct drives can preferably be used, so that advantageously a user who is trapped can free himself at any time.
  • the possibility of self-liberation offers a high level of intrinsic security, which is particularly non-destructive when using backdriveable gears or (direct) drives.
  • a mechanically weak training can be understood to mean such constructive designs of motors, drives, gears and joints that are mentioned in the pain threshold table from Annex A of the standard DIN ISO TS 15066.
  • this pain threshold table the lowest value for the sensitive face of a person is given and is set to 65 Newton force. It is therefore sometimes advantageous and preferred to create a robot for automatically loading or refueling a vehicle, in which there is no danger to people and with simple technical means it is ensured that the maximum possible design force that the
  • the device can always generate a maximum positioning force, as defined above.
  • the robot arm can in particular be an articulated arm robot, a six-axis or seven-axis kick arm robot or a SCARA robot. It can
  • the arrangement of the second axis and the third axis is preferably such that they do not work against gravity.
  • the axes are in a numerical order starting at the proximal end of the robot arm, for example, towards a base frame distal end of the robot arm, in particular the flange of the robot arm.
  • the second part of the movement is the plug-in process from a plug-in preposition into a plug-in end position, which plug-in process preferably comprises an essentially linear movement that requires higher forces that are not intrinsically safe or by intrinsically safe thrust drives or thrust joints or
  • Gear can be realized, that is, can or must generate forces that may be greater than the maximum positioning force.
  • the positioning travel of the robot can preferably be carried out with the first four axes (optionally also with the further fifth axis and sixth axis, in particular if these are present, without the seventh axis or the fifth axis if the fifth axis and sixth axes do not exist, It is further preferred that the plugging process is carried out only with the seventh axis, ie in the case of a seven-axis kick arm robot the last axis or the distal axis or with the fifth axis in the case of a 5-axis loading robot the seventh axis (distal end axis) must be supported by the positioning drives of axes one to six, since these would then normally no longer be intrinsically safe to develop, in an alternative this can be achieved by a non-driven screw on the motor engages with a gearbox ice of one
  • Plastic gears which are preferably arranged on the second axis and / or on the fourth axis, may not be able to be accommodated, as a result of which they can slip through and the teeth in the gear can be destroyed.
  • An improvement is possible in that the drive motor engages the plastic gear via a gearwheel, which in turn engages in a worm arranged on the outlet side.
  • the self-locking mechanism then takes place after the gearbox and not in front of it, which advantageously protects the gearbox against excessive reaction moments.
  • the second to sixth axes can be designed to be lockable after the positioning run by a controllable parking brake. This allows the reaction forces are then supported by the parking brake.
  • the parking brake preferably only holds in an energized state (i.e.
  • the functionality of the brake can be checked by monitoring for changes in the joint angle using the position sensors of the determined axles. A comparison can also be carried out via image processing.
  • Components for axes one to six can be provided in a material-saving and cost-effective manner, a charging robot that is sufficiently safe for cooperation with humans, but still has sufficient plug-in power to reliably charge an electrically operated vehicle .
  • Another drive or one of the thrust drives is preferably part of an actuating device which is used for electrically coupling the connector to the
  • the actuating device for electrically coupling the connector to the receptacle of the vehicle can be formed by a selected axis of the robot arm, which automatically moves the connector into the Pre-position moved.
  • the actuating device for electrically coupling the connector to the receptacle of the vehicle can be formed by the motor of the robot arm that moves the last joint at the distal end of the robot arm, with a holder that can adjustably support the connector with the penultimate link at the distal end of
  • Robot arm is connected and the flange of the robot arm is coupled to an actuator which is designed when the movement of the
  • the actuating device for electrically coupling the connector to the receptacle of the vehicle can be formed by a drive separate from the robot arm, which is integrated in an adjustable platform that supports the robot arm, the connector being fastened to the flange of the robot arm and by controlling the motors of the robot arm by means of the robot control device due to the movement of the robot arm, the connector can be brought into a position in which the connector is in the
  • Pre-position is located and the connector is moved from its pre-position to the plug end position by the further drive moving the adjustable platform, so that the robot arm together with the connector in the
  • Plug end position for the connector is moved.
  • Robot control device can be supplemented, which is set up to lock the joints of the robot arm against adjustment during a movement of the connector carried out by the adjusting device, in particular the further drive, from the plug-in preposition to the plug-in end position.
  • the actuating device for electrically coupling the connector to the receptacle of the vehicle can in a fifth embodiment by the
  • Robot control device can be supplemented by the robot control device being set up, by means of the robot arm, to move the connector into a plug-in preposition which is already brought so close to the receptacle on the vehicle, so that manual intervention in a possible gap between the connector and the receptacle of the vehicle not possible.
  • the actuating device for electrically coupling the connector to the receptacle of the vehicle can comprise an apron, which can be arranged, for example, on a connector housing of the connector and / or on a receptacle housing of the receptacle on the vehicle and one that may remain in the pre-position of the connector Gap between the connector and the receptacle on the vehicle to prevent engagement or reaching in when the connector is in the pre-insertion position.
  • the apron can already be formed, for example in the case of a plug-in preposition located very close to the plug end position, by the standard design of the housing parts of the connector and receptacle on the vehicle.
  • the actuating device for electrically coupling the connector to the receptacle of the vehicle can comprise a sensor device which is designed to detect the position of the connector and which is set up to send a signal which characterizes the plug pre-position to the
  • Robot control device to transmit when the connector is in the
  • the adjusting device for electrically coupling the connector to the receptacle of the vehicle can comprise a sensor device which is designed to be redundant or diversified, in particular comprises at least two sensors which
  • sensor values or sensor signals can also be transmitted redundantly or diversely, either wired or wireless.
  • the actuating device for electrically coupling the connector to the receptacle of the vehicle can be actuated, in particular actuated by the robot control device, so that closing of the electrical circuits is provided as an additional signal by leading contacts of the robot controller in order for the robot controller to take an action to cause, for example, to start and / or stop the drive (s) of one or more axes and / or the joints of the
  • the actuating device for electrically coupling the connector to the receptacle of the vehicle can have a support member which is adjustably mounted with respect to the connector and which is designed to be automatically driven, in a storage position to allow the connector to be released from the receptacle on the vehicle and in one out the storage position automatically adjusted locking position with the receptacle of the vehicle to connect at least frictionally, non-positively or preferably positively, in such a way that in the locking position connected to the receptacle reaction forces caused by the automatic movement of the connector from the plug-in position into the plug-in position via the
  • Support member are supported so that the automatic
  • the actuating device for electrically coupling the connector to the receptacle of the vehicle can in this respect have a support member, which, in a state in which the connector is in the plug-in preposition, can be supported against the receptacle on the vehicle by the during the automatic movement of the connector from the plug position into the
  • reaction forces are introduced into the vehicle and not into the robot arm.
  • Brakes on the robot arm are at least carried out using a non-safe technique, or may even be omitted entirely.
  • the actuating device for electrically coupling the connector to the receptacle of the vehicle can be an actuator, i.e. an active actuator can be formed, which automatically moves the connector from its pre-plug position to the plug end position, the actuator or the actuator being designed by an electrical contact pin as a charging plug
  • Plug longitudinal extension is automatically driven, rotatably mounted in the connector or in the charging plug and either has an external thread or, in the case of a tubular contact pin, has an internal thread with a
  • Corresponding internal thread or external thread on the receptacle of the vehicle interacts in such a way that when the contact pin is driven automatically, the connector or the charging plug is removed from it
  • Plug pre-position is pulled into the plug end position.
  • Such an active, rotating contact pin with thread can be one of the charging contacts, one of the protective contacts or one of the communication contacts.
  • Charging sockets can be connected either manually or robotically or automatically.
  • a charging robot automatically electrically and mechanically connects the charging plug of the charging station to the complementary charging plug of the vehicle.
  • six-axis or seven-axis robot mechanics can be used, with one or more axes (positioning axes) predominantly positioning the connector, i.e. of the charging connector and one or more axes (thru axles) predominantly carry out the plugging process, i.e. the linear movement to insert the connector from it
  • the plug-in axles are generally to be designed stronger, in particular with stronger motors or drives, as the positioning axes for the automatic movement of the connector into the plug pre-position. It is understood that one or more axes of the
  • Robot arm both the task as a thru axis and positioning axis
  • communication conductors CC1, CC2
  • protective conductors PE
  • the contacts connected to the communication conductor or protective conductor are leading, i.e. they make electrical contact earlier than other contacts. You make contact during a plug-in process, in particular in the order of protective conductor, first communication conductor, second communication conductor (PE-> CC2-> CC1).
  • the complementary plug contacts can each be connected to a voltage source via a resistor. In this way, current circuits are successively energized during the plugging process, so that the charging station can determine the plug sequence using measurement technology.
  • the closing of the circuits by the leading contacts can be provided to the robot controller as an additional signal to cause the robot controller to take an action, for example to start and / or stop the drive (s) for one or more axes.
  • the charging plug preferably has one or more of the following features:
  • At least one actuator which can be arranged in or on the charging plug of the vehicle, and which is arranged and designed, engages with a charging plug of a charging device (robotic or manual) or
  • the insertion force to be exerted by the robot arm can be reduced, which also results in lower reaction forces acting on act on the robot arm so that it can be designed to be structurally weaker and thus more secure in the sense of an improved solution to the underlying task.
  • a system is provided with a device for automatically loading a vehicle, comprising a robot that has a
  • Robot control device and one of the robot control device are Robot control device and one of the robot control device
  • the robot arm has a plurality of links that are adjustably connected to one another via joints and motors of the robot arm are assigned to the joints, such that the joints can be automatically adjusted by actuating the motors by means of the robot control device in order to adjust the links of the robot arm relative to one another , so that one arranged on a flange of the robot arm
  • Connector of the device is moved in space, the connector automatically into a receptacle on the vehicle corresponding to the connector
  • Movement possibilities of the robot arm in the event of a collision always transmit less than the maximum positioning force, preferably less than 120 N and particularly preferably less than about 60 N force to the collision body, and the system comprises a further drive which is designed to remove the connector from a by moving the robot arm to the plug pre-position of the connector, in which the connector is tamper-proof before the vehicle is received, to move into a plug end position, in which
  • the actuating device for electrically coupling the connector to the receptacle of the vehicle can be formed by a motor, actuator or drive which is arranged on the vehicle side, that is to say is a component of the vehicle and which is designed to automatically disconnect the connector from the vehicle to pull its pre-insertion position into the insertion end position.
  • the actuating device for electrically coupling the connector to the receptacle of the vehicle can be formed in a second embodiment by a motor that is integrated in the receptacle on the vehicle, wherein the actuator can be assigned an actuator that is adjustably mounted on the receptacle and that is designed to reach out from the receptacle for the connector when it is in the plug pre-position and by pulling the actuator back into the receptacle, the connector coupled to the actuator is drawn into the receptacle.
  • the actuating device for electrically coupling the connector to the receptacle of the vehicle can have an actuator on the vehicle, in particular on the receptacle of the vehicle, which is designed, either in cooperation with a clamping means on the connector, only the connector to the receptacle of the Pulling the vehicle without the other, in particular "weak” links of the robot arm being adjusted, or in cooperation with a robot arm, which is operated by the robot control in a compliance control, to pull the connector to the receptacle of the vehicle, due to the compliance control of the robot arm the other, especially "weak" limbs of the robot arm are passively adjusted, ie moved with them.
  • the actuating device for electrically coupling the connector to the receptacle of the vehicle can be modified by the fourth embodiment
  • Robot control device can be supplemented, which is set up to lock the joints of the robot arm against displacement during a movement of the connector from the plug-in preposition into the plug-in end position carried out by the actuating device of the vehicle, in particular the further drive in the vehicle.
  • Robot control device can be supplemented by the robot control device being set up, by means of the robot arm, to move the connector into a plug-in preposition which is already brought so close to the receptacle on the vehicle, so that manual intervention in a possible gap between the connector and the receptacle of the vehicle is not possible while pulling the connector into the receptacle by the receptacle-side actuator.
  • the actuating device for electrically coupling the connector to the receptacle of the vehicle can comprise an apron which is arranged on a receptacle housing of the receptacle on the vehicle and against a gap between the connector and the receptacle on the vehicle which may remain in the plug-in preposition of the connector Reaching in or reaching in covered when the connector is in the pre-position.
  • the apron can already be formed, for example in the case of a plug-in preposition located very close to the plug end position, by the standard design of the housing parts of the connector and receptacle on the vehicle.
  • Include sensor device which is designed to detect the position of the connector from the vehicle and which is set up to signal the plug pre-position, for example via a still described later to transmit wired (via the connector) communication link or via a wireless (radio) communication link to the robot control device when the connector is in the pre-insertion position.
  • the actuating device for electrically coupling the connector to the receptacle of the vehicle can comprise a vehicle-side sensor device which is designed to be redundant or diverse, in particular comprises at least two sensors on the vehicle, which in particular detect on different physical principles.
  • the sensor values or sensor signals can also be transmitted redundantly or diversely, either wired or wireless.
  • the actuating device for electrically coupling the connector to the receptacle of the vehicle can be controlled, in particular controlled by the robot control device or a control device on the vehicle side, such that the circuits are closed by leading contacts of the robot control or the vehicle control side
  • Control device can be provided as an additional signal to the
  • the robot controller or the on-board control device To cause the robot controller or the on-board control device to take an action, for example to start and / or stop the drive (s) of one or more axes and / or the brakes assigned to the joints of the robot arm into their locked, i.e. to bring and hold closed positions or to release them.
  • the actuating device for electrically coupling the connector to the receptacle of the vehicle can have a support member which is adjustable on the receptacle of the vehicle and is designed to be automatically driven, in a storage position releasing the connector from the receptacle on the vehicle to allow and to connect at least frictionally, non-positively or preferably positively in a locking position automatically adjusted from the storage position to the receptacle of the vehicle, such that in the locking position connected to the receptacle reaction forces caused by the automatic movement of the connector from the pre-plug position to the plug end position are supported via the vehicle-side support member, so that the necessary for the automatic insertion process
  • the actuating device for electrically coupling the connector to the receptacle of the vehicle can in this respect have a support member on the receptacle of the vehicle, which, in a state in which the connector is in the plug-in pre-position, can be supported against the receptacle on the vehicle by the while the automatic movement of the connector from the pre-insertion position into the
  • reaction forces are introduced into the vehicle and not into the robot arm.
  • the brakes on the robot arm can be designed at least in a non-safe technique, or can even be omitted entirely.
  • the actuating device for electrically coupling the connector to the receptacle of the vehicle can be an actuator, i.e. an active actuator on the vehicle, especially on the mounting i.e. the "Inlet", which automatically moves the connector from its pre-plug position to the plug end position, whereby the actuator or actuator is formed by an electrical contact pin on the charging plug of the vehicle, the electrical contact pin being automatically driven by its longitudinal extension, rotatable in the charging plug of the vehicle is mounted and either has an external thread or, in the case of a tubular contact pin, an internal thread which interacts with a corresponding internal thread or external thread on the connector to be inserted in such a way that when the contact pin is automatically driven, the connector or the charging plug carried by the robot arm is removed its plug position in the
  • Plug end position is pulled.
  • Such an active, rotating contact pin with thread can be one of the charging contacts, one of the protective contacts or one of the communication contacts.
  • Today's electric vehicles have charging plugs, ie “inlets”, which can be connected to charging sockets, ie, "connectors” (of the connector carried by the robot arm) either manually or robotically or automatically.
  • a charging robot automatically electrically and mechanically connects the charging socket (connector) of the charging station to the complementary charging plug (complementary connector) of the vehicle.
  • 6-axis or 7-axis mechanisms can be used, with one or more axes
  • the plug-in axes are generally designed to be stronger, in particular with stronger drives, than the positioning axes. It goes without saying that one or more axes can take on the task of being a thru axle and positioning axis.
  • communication conductors CC1, CC2
  • protective conductors PE
  • the contacts connected to the communication conductor or protective conductor are leading. They contact in particular in the order protective conductor, first communication conductor, second communication conductor (PE-> CC2-> CC1).
  • the complementary plug contacts can each be connected to a voltage source via a resistor.
  • power circuits are successively energized or closed galvanically, inductively and / or capacitively during the plugging process, so that the charging station or the
  • Robot controller can determine the connector sequence by measurement.
  • the closing of the circuits by the leading contacts can be provided to the robot controller as an additional signal to cause the robot controller to take an action, for example to start and / or stop the drive (s) for one or more axes.
  • the actuator can be arranged on the vehicle side.
  • the loading robot advantageously does not require any safety functions, since they are then entirely on the side of the vehicle.
  • the safety standards in the vehicle are easier to implement than those in the robot (for example, already applied when closing the tailgate or closing the doors with a motor).
  • a device for automatically loading or refueling a vehicle comprising a robot that has a
  • Robot control device and one of the robot control device are Robot control device and one of the robot control device
  • the robot arm has a plurality of links which are adjustably connected to one another via joints and motors of the robot arm are assigned to the joints, such that the joints can be automatically adjusted by controlling the motors by means of the robot control device in order to adjust the links of the robot arm relative to one another , so that one arranged on a flange of the robot arm
  • Connector of the device is moved in space, the connector automatically into a receptacle on the vehicle corresponding to the connector
  • the links, joints and motors for driving the joints being designed in all movement possibilities of the
  • the robot arm always transmits less than 120 N and particularly preferably less than about 60 N force to the collision body, and the device comprises a further drive which is designed to move the connector out of a pre-position of the connector that is approached by moving the robot arm, in which the connector is protected against tampering before the vehicle is received, in a plug end position in which
  • the device in particular the robot arm, has a starting aid device to support the mechanical plugging of the connector onto the receptacle of the vehicle.
  • the starting aid device for supporting the mechanical attachment of the connector to the receptacle of the vehicle can have at least one camera, i.e. have at least one image sensor which is designed, in particular in cooperation with a
  • Image evaluation device to record the current position / orientation and / or position of the connector with respect to the recording, and in particular to evaluate it.
  • the detection and evaluation of the current position and / or current position of the connector with respect to the receptacle can be used to automatically move the connector into the pre-insertion position, or to automatically plug the connector into the receptacle of the vehicle during a plug-in movement to support the connector from the pre-plug position to the plug end position.
  • the detection and evaluation of the current position and / or current position of the connector with respect to the recording by means of a camera, i.e. At least one image sensor and one image evaluation device can thus automatically insert the connector into the receptacle of the
  • the starting aid device for supporting the mechanical attachment of the connector to the receptacle of the vehicle can have at least one camera, i.e. have at least one image sensor which is arranged on the connector in order to optically, in particular imaging, record the recording of the vehicle.
  • the starting aid device for supporting the mechanical attachment of the connector to the receptacle of the vehicle can have at least one camera, ie at least one image sensor, which is arranged on the robot arm, in particular the flange, in order to accommodate the receptacle Vehicle, and in particular possibly also to detect a part of the connector optically, in particular imaging.
  • the starting aid device for supporting the mechanical attachment of the connector to the receptacle of the vehicle can have at least one camera, i.e. have at least one image sensor, which is arranged on the receptacle of the vehicle, around the connector and
  • the starting aid device for supporting the mechanical attachment of the connector to the receptacle of the vehicle can have an image evaluation device that can be operated with the at least one camera. is connected to the at least one image sensor, so that image data captured by the camera or the image sensor can be evaluated by the image evaluation device. Based on an evaluation of the image data by the image evaluation device, the robot controller can be caused to move the connector closer to the receptacle of the vehicle and to position it there in the plug-in preposition.
  • a connector positioned more precisely with respect to the receptacle on the vehicle can facilitate the automatic plug-in process, in particular make it more error-free.
  • the starting aid device for supporting the mechanical attachment of the connector to the receptacle of the vehicle can have an image evaluation device which is set up to take pictures of the receptacle on the vehicle or the connector during the startup of the connector by means of the robot arm, in particular a start-up into the plug-in position from three different positions.
  • the image evaluation device can generally control technology with the
  • Robot control device can be connected, so that on the basis of the image data and the evaluations from the image evaluation device, the robot arm
  • the image evaluation device can also be used in terms of control technology to activate the plug-in process, ie a plug-in process is only permitted then
  • the connector can be mounted on the flange of the robot arm by means of a compensating joint, so that during the mating process, in which the connector moves from the mating position to the mating end position, during the Interconnecting the connector and receptacle on the vehicle, the connector to a slight extent by means of the compensating joint
  • the receptacle on the vehicle can have a conical centering device in order to improve or support the plugging process as such.
  • a conical centering device can optionally interact with a corresponding corresponding centering device on the connector.
  • the receptacle in the vehicle as a whole can be elastically mounted on the vehicle body.
  • the receptacle on the vehicle by means of its elastic mounting on the vehicle body
  • the robot control device can be set up, a driving strategy for moving the connector from the plug-in position into the To provide plug end position for moving the robot arm.
  • a driving strategy can, for example, provide a swelling insertion and / or different speed ramps in the movement profiles for the plugging process.
  • An alternative or supplementary driving strategy can also include a back and forth movement, optionally transversely to the plugging direction or in the plugging direction or counter to the plugging direction.
  • Driving strategy may also include a slight change in the angle of the connector relative to the mount on the vehicle.
  • a lock can be provided on the connector and / or on the receptacle on the vehicle, which is designed in the inserted state of the connector in the receptacle to connect the connector positively and / or non-positively to the receptacle on the vehicle, so that removal of the connector from the receptacle is reliably prevented during a charging process.
  • Charging cables (up to 95 mm 2 cross section for each of the two copper cables that conduct the charging current) facilitate.
  • the loading robot can
  • the plug-in axes can expediently be designed analogously to the positioning axes, as a result of which inherent safety is achieved, since weakly trained positioning axes pose no danger to persons. This concept can be an alternative to a safety relay.
  • a system is provided with a device for automatically loading a vehicle, comprising a robot that has a
  • Robot control device and one of the robot control device are Robot control device and one of the robot control device
  • the robot arm has a plurality of links that are adjustably connected to one another via joints and motors of the robot arm are assigned to the joints, such that the joints can be automatically adjusted by actuating the motors by means of the robot control device in order to adjust the links of the robot arm relative to one another , so that one arranged on a flange of the robot arm
  • Connector of the device is moved in space, the connector automatically into a receptacle on the vehicle corresponding to the connector
  • the links, the joints and the motors for driving the joints being designed constructively, in all possible movements of the robot arm in the event of a collision, less and less than 120 N and particularly preferably less than about 60 N force to transmit to the collision body, and the system comprises a further drive, which is designed to move the connector out of a pre-position of the connector moved by moving the robot arm, in which the connector is protected against tampering the receptacle of the vehicle is in a plug end position in which plug end position the connector in the receptacle of the vehicle is properly plugged in, so that electrical energy and / or fuel the vehicle in the plug end position of the
  • the plug sequence can be secured in a tank robot by evaluating leading contacts when plugged in the charging cable into the vehicle. This can advantageously ensure that a strong push-in takes place only when the plug pre-position is reached and not when there is a dangerous clamping situation, for example in the event that a hand is positioned between the plug connectors.
  • the charging circuit can be modified in such a way that the closing of contacts can be detected.
  • the modification could either be on the socket side or on the side of the charging cable or on the side of the charging box.
  • the plug can expediently only move in the plug-in direction, that is to say in the z-direction, since the orthogonal directions x and y are blocked by the plug on the vehicle or the inlay .
  • Pre-position no longer moves significantly can preferably be used as a test condition to determine whether the pre-position has been reached.
  • the robot can attempt to move in the x and / or y direction by small test movements.
  • the robot could be stuck somewhere else in the x and y directions, so that the condition would also be met. This could happen, for example, if the image processing erroneously detects a connector profile (inlet) at an incorrect location, the latter is then approached and exactly at this location there is a blockage in the x and y directions, but not in the z direction. This is a
  • An electrical connection between the charging cable and the vehicle is preferably established in the plug-in preposition via the leading contact, so that currents can flow between the vehicle and the charging box.
  • These currents are preferably detected by a measuring device, in particular without forming a galvanic contact between the measuring device and the leading contact.
  • the measuring device can be inductively or capacitively coupled to the leading contact or a line electrically connected to it.
  • the electrical connection can advantageously be detected or detected in the plug-in preposition without having to change the current supply or charging circuit to connect the measuring device required for this.
  • a device for automatically loading or refueling a vehicle comprising a robot that has a
  • Robot control device and one of the robot control device are Robot control device and one of the robot control device
  • the robot arm has a plurality of links that are adjustably connected to one another via joints and motors of the robot arm are assigned to the joints, such that the joints can be automatically adjusted by actuating the motors by means of the robot control device in order to adjust the links of the robot arm relative to one another , so that one arranged on a flange of the robot arm
  • Connector of the device is moved in space, the connector automatically into a receptacle on the vehicle corresponding to the connector
  • the links, joints and motors for driving the joints being designed in all movement possibilities of the
  • Robot arm in the event of a collision always less than 120 N and particularly preferably less than about 60 N force to transmit to the collision body
  • the device comprises a further drive, which is designed to move the connector from a pre-position of the connector, moved in by moving the robot arm, in which the connector is in a tamper-proof manner before the vehicle is received, into an end position in which
  • the device has a flea compensation device which is designed to change the flea position of the vehicle during an automatic charging or refueling process during which the Connector is connected to the receptacle of the vehicle for the transmission of electrical energy or a fuel, to compensate for the fact that the connector and / or the robot arm is automatically adjusted in its height.
  • the height compensation device can be formed by a lifting column that has a slide that is automatically linearly adjustable in height.
  • the robot arm can thus be mounted on the carriage so as to be adjustable in height.
  • the slide in a second embodiment, which further develops the lifting column, can be designed to be weight-compensated.
  • the lifting column can have a counterweight in antagonistic design to the slide, which compensates for the weight of the slide and, if applicable, also the weight of the robot arm attached to the slide, in particular including the connector.
  • the drive for lifting the slide in the vertical direction against the direction of gravity does not have to raise the weight forces of the slide and the robot arm, but the drive for lifting only applies the actuating forces for moving the slide.
  • the height compensation device can be formed by the first basic axis of the robot arm.
  • the loading robot preferably has a vertical guide with a drive, as a result of which the robot arm can be displaced vertically.
  • the first axis of the loading robot can be designed as a linear axis.
  • Vehicles with air suspension change their height during the loading process, which is why this height is conventionally readjusted using the linear axis. If there is a power failure and the vehicle sinks at the same time, there is a risk that the vehicle, the robot arm and / or the charging socket, i.e. the connector may be damaged.
  • the drive unit of the linear axis should be designed in such a way that it bears the load of the robot arm and the charging socket together with the cable, which means that an intrinsically safe design is generally no longer possible and increased expenditure in terms of control with regard to the safety of the (linear) axis are necessary.
  • the sinking of the vehicle should be recorded and the first axle should accordingly remain in control. This leads to higher wear and tear
  • the loading robot preferably has a weight balance for the linear axis, i.e. the lifting column.
  • the robot arm, the slide of the linear axis and the motor of the slide have a mass.
  • the weight of the mass is particularly preferably coupled to the counterweight by means of a connecting link, such as a rope or chain, guided through a deflection roller, and the forces are thereby largely
  • the mass of the counterweight is selected such that essentially no resulting force arises, in particular that the
  • Static friction of the deflection roller is greater than the resulting force, so that the loading robot does not move without an electric drive.
  • a brake should preferably be provided so that the intrinsically safe character of the first axis does not get hurt. in the the brake is open and the drive unit of the first axis is preferably designed to be driven back. In this way, self-liberation by people in a stuck situation is possible in any case.
  • the weight compensation can also be carried out by a spring force, in which case an exact constant compensation over the entire flub path is not entirely successful due to the non-linearity of the spring.
  • the height compensation device or the lifting column can be in a fourth
  • Execution can be arranged between the flange of the robot arm and the connector.
  • the delivery function and delivery movement i.e. the lifting and lowering of the connector can be simplified and made more flexible. An adaptation to different types of vehicles and to varying parking positions and changing vehicle heights during refueling or loading is therefore easier.
  • the delivery device can be connected to a holder for an electrical charging plug. This also makes it easier and more flexible
  • the bracket can be used for any purpose.
  • the bracket also enables optional manual operation.
  • the infeed movement takes place directly with the holder.
  • the holder or the charging plug can thus be moved relative to the positioning device which is at rest.
  • This can be a kinematically simplified, in particular translatory or linear, feed movement. Thanks to the in-house delivery device of the end effector, the delivery and coupling of the charging plug is easier, more powerful and more controllable.
  • the infeed direction can be aligned with the plugging direction of the charging plug, which is favorable for coupling and possibly uncoupling.
  • the preferably linear plug-in direction is the direction in which the charging plug with its current contacts is aligned with the charging socket in a manner suitable for the coupling and in which it is also moved.
  • the end effector has a retractable and extendable compensation device for the charging plug, in particular the
  • the compensation device is flexible, in particular passive, adjustable in at least one axis and can be used for charging and in the coupled state of the charging plug and charging socket
  • Compensate for relative movements between the vehicle and the positioning device are in particular relative movements with a vertical direction component. They arise e.g. when the vehicle deflects and rebounds due to a change in load, in particular when passengers get in or out or, for example, by lowering air springs.
  • the resilient compensation device compensates for such relative movements and prevents damage to the charging plug / charging socket and the end effector and its parts, as well as the positioning device.
  • Embodiment it performs a passive movement when retracting and extending and does not need its own drive and control technology.
  • the compensation device can be equipped with a drive and possibly
  • Control technology can be combined. It can also be used for active single or multi-axis positioning movements, for example in the vertical z-spatial axis.
  • the compensation device can be coupled and uncoupled from its drive or can be activated in another way in a controllable manner.
  • the compensation device is particularly suitable for an end effector with the aforementioned own delivery device and the connection for connection to a positioning device.
  • the compensation device can also be used with other end effectors without a separate delivery device.
  • Output element of a positioning device e.g. a multi-axis robot with translatory and / or rotary robot axes or
  • Movement axes can be used.
  • an end effector with its own
  • the delivery device can be the compensation device of the delivery device
  • upstream can be the connection for connection with the
  • the infeed device rigidly connected to the charging socket in the coupled state can be kinematically decoupled from the positioning device by the compensating device.
  • the delivery device can follow the vehicle movements and can thanks to the
  • Positioning device can take a rigid pose and needs it
  • the positioning device is thereby simplified in its kinematics and control. It is through the
  • Compensating device protected against possible overloads and damage.
  • the compensation device can be flexibly adjustable in one or more axes. In most cases, uniaxial adjustability is sufficient, e.g. can be translational. This applies in particular to compensating movements in the vertical spatial axis when the operating or clutch position is assumed.
  • the compensation device can have a length-adjustable compensation element. This can e.g. be designed as a telescopic rod.
  • the compensation device can be locked in at least one predetermined position on its path of movement. This can preferably be the retracted end position.
  • the compensation device can preferably be automatic Controllable locking for the at least one predetermined position. Alternatively, it can be operated manually.
  • an independently driven and controllable locking means e.g. have a driven bolt.
  • the lock can be used as
  • Bayonet lock e.g. with locking bolt and locking groove.
  • the locking device can be actuated by the positioning device, e.g. through their rotational movement.
  • the compensation device can move freely when the lock is released and can follow the vehicle movements.
  • For coupling and uncoupling the charging plug to or from the charging socket is the
  • the positioning device brings the possibly extended compensation device into the retracted end position.
  • the possibly extended compensation device into the retracted end position.
  • the delivery device or the balancing device of the effector i.e. the connector can be uniaxial or multi-axis movable. It can have an infeed element connected to the holder. This is moved uniaxially or multiaxially for coupling and possibly also for uncoupling.
  • the delivery device can have at least one translatory and / or rotary movable delivery unit for this kinematics.
  • At least one delivery unit has a controllable drive.
  • This controlled driven delivery unit leads e.g. a translatory, in particular linear, feed movement.
  • the delivery element of this delivery unit can be connected to the charging plug, in particular to the holder for the charging plug.
  • Another delivery unit can also be automatically or, if necessary, manually brought into a predetermined position and then fixed, if necessary. This can e.g. a swivel position for a vehicle-specific
  • a device for automatically loading or refueling a vehicle comprising a robot that has a
  • Robot control device and one of the robot control device are Robot control device and one of the robot control device
  • the robot arm has a plurality of links which are adjustably connected to one another by joints and motors of the robot arm are assigned to the joints, such that the joints can be automatically adjusted by actuating the motors by means of the robot control device in order to adjust the links of the robot arm relative to one another , so that one arranged on a flange of the robot arm
  • Connector of the device is moved in space, the connector automatically into a receptacle on the vehicle corresponding to the connector
  • the links, joints and motors for driving the joints being designed in all movement possibilities of the
  • the robot arm always transmits less than 120 N and particularly preferably less than about 60 N force to the collision body, and the device comprises a further drive which is designed to move the connector out of a pre-position of the connector that is approached by moving the robot arm, in which the connector is protected against tampering before the vehicle is received, in a plug end position in which
  • Plug end position of the connector in the receptacle of the vehicle is properly plugged in, so that electrical energy and / or fuel can be supplied to the vehicle in the plug end position of the connector, and the motors assigned to the joints of the robot arm are controlled in a force and / or torque-controlled manner by means of the robot control device .
  • the charging robot which can expediently be used to plug the charging socket of the charging cable into the plug of the vehicle, preferably has a robot control which, instead of a closed loop control of the charging robot, performs a power control (open loop control).
  • the robot controller preferably does not have a closed control loop or the loading robot does not have any force sensors. It can expediently be assumed that the motor currents of the drives of the loading robot are proportional to the motor torque given. Effects such as friction and hysteresis can occur
  • the robot-side or charging cable-side socket When the robot-side or charging cable-side socket is plugged into the vehicle-side connector, the position of the connector and the direction of insertion are preferably known.
  • the insertion forces are also generally known.
  • the dynamics of the robot are advantageously not present, so there are essentially none
  • Loading robots can be increased in relation to nearby people. A pure position control does not offer these advantages.
  • a further subtask is achieved according to the invention by a device for automatically loading or refueling a vehicle, comprising a robot, a robot control device and one of the
  • Robot control device includes automatically controllable robot arm, wherein the robot arm has a plurality of links which are adjustably connected to one another via joints and motors of the robot arm are assigned to the joints, in such a way that by controlling the motors by means of the
  • Robot control device the joints are automatically adjustable to move the links of the robot arm against each other, so that a connector of the device arranged on a flange of the robot arm is moved in space to automatically move the connector into one of the connectors
  • the links, the joints and the motors for driving the joints being designed in all possible movements of the robot arm in the event of a collision to always transmit less than 120 N and particularly preferably less than about 60 N force to the collision body, and the device comprises a further drive which is designed to move the connector by moving the
  • Robot arm approached plug pre-position of the connector, in which the connector is protected against tampering before the receptacle of the vehicle, to move into a plug end position, in which plug end position the connector is properly plugged into the receptacle of the vehicle, so that electrical energy and / or fuel in the vehicle the plug end position of the
  • Connector can be fed, and wherein the device
  • Has communication device which is designed to implement a data exchange between a vehicle control device and a system control device of the device for automatically charging the vehicle.
  • the communication device can transmit wirelessly (by means of radio) or wired.
  • the communication device can transmit data via at least one first electrical contact between the connector and the receptacle on the vehicle.
  • the data transmitted by the communication device can also be passed on to the robot controller.
  • the data can be evaluated in the vehicle control device and / or in the system control device and evaluated results can be passed on to the robot controller.
  • the evaluation can preferably be carried out using a
  • Resistance is measured when the circuit is closed or by measuring a change in capacity when the vehicle is connected to the plug i.e. the connector is connected.
  • the first contact that is to say the connection of the protective conductor (PE)
  • PE protective conductor
  • the connector-side contacts could be tapped at the plug or via appropriate communication with the charging station.
  • an RF chip also as an RFID chip or near-field communication device
  • the range of the chip is very short, preferably less than 1 meter, particularly preferably less than 50 centimeters and in particular less than 10 centimeters, so that the signal can only be measured or if the charging plug of the charging station approaches the vehicle or its charging plug successfully
  • the content of the RF chip could also be used by the loading system to support billing processes. This is particularly interesting if the vehicle drives up to the charging station autonomously and the vehicle owner cannot identify himself using a card.
  • An antenna must be provided on the end effector of the loading robot so that the content of the chip can be read out. The antenna can be used with the charging station or the control of the
  • Charging robot connected to transmit the data read by the RF chip to the charging station or the controller.
  • a device for automatically loading or refueling a vehicle comprising a robot that has a
  • Robot control device and one of the robot control device are Robot control device and one of the robot control device
  • the robot arm has a plurality of links adjustably connected to one another via joints and the Joints are assigned to motors of the robot arm in such a way that the joints can be automatically adjusted by controlling the motors by means of the robot control device in order to adjust the links of the robot arm relative to one another, so that one is arranged on a flange of the robot arm
  • Connector of the device is moved in space, the connector automatically into a receptacle on the vehicle corresponding to the connector
  • the links, joints and motors for driving the joints being designed in all movement possibilities of the
  • the robot arm always transmits less than 120 N and particularly preferably less than about 60 N force to the collision body, and the device comprises a further drive which is designed to move the connector out of a pre-position of the connector that is approached by moving the robot arm, in which the connector is protected against tampering before the vehicle is received, in a plug end position in which
  • Plug end position of the connector in the receptacle of the vehicle is properly plugged in, so that electrical energy and / or fuel can be supplied to the vehicle in the plug end position of the connector, and the device has at least one safety relay which is designed to supply on the basis of an electrical signal to interrupt the at least one motor of the robot arm and / or the at least one brake of at least one of the joints of the robot arm with electrical energy.
  • the safety relay can also be referred to as a safety relay.
  • a safety switching device implements safety functions in machines and systems, especially in those with electrical drives. They monitor dangerous functions and are intended to pose a risk to the
  • a conventional switching relay uses a wire coil and the resulting mechanical movement of the metal contacts to switch the load on and off. After repeated switching cycles or in the event of errors, the metal contacts can weld. If that happened and the operator actuated the emergency stop switch, the machine would continue to run. This would result in a dangerous state for the operator.
  • the safety standards therefore provide for the use of relays and contactors with positively driven contacts instead of simple relays or contactors. Instead of one
  • Contact-based relay technology can work in an analogous manner, but also with electronic evaluation and contact-based potential-free outputs, or fully electronic devices can work with
  • the electrical signal that controls the safety relay i.e. actuated can be generated and / or sent by the robot controller i.e. the
  • the safety relay which is designed to interrupt a supply of the at least one motor of the robot arm and / or the at least one brake of at least one of the joints of the robot arm with electrical energy based on an electrical signal
  • the loading robot i.e. the robot arm that supports the connector when one of the thru axles i.e. the drive or drives which move the connector from the plug-in position into the plug-in position are operated. Therefore the brakes of the positioning axes should be activated or closed. Since all other axes are designed so weak or flexible that none
  • a safety control can therefore preferably be simplified as follows.
  • the power supply for driving the at least one thru axle i.e. the drive which moves the connector from the pre-insertion position to the insertion position, in particular also the associated brakes, is via a
  • Safety relay interrupted.
  • This safety relay can be connected on the input side to a signal from the leading contacts and / or the antenna evaluation (RF chip) of the connector.
  • a safety bus is preferably avoided and the drive of the thru axle (s) and preferably also that
  • the safety relay thus supplies the drive or the motor drivers and possibly also the brakes with a supply voltage and is also able to safely disconnect them.
  • an additional electrical line can be provided on the connector and / or on the robot arm.
  • a device for automatically loading or refueling a vehicle comprising a robot that has a
  • Robot control device and one of the robot control device are Robot control device and one of the robot control device
  • the robot arm has a plurality of links that are adjustably connected to one another via joints and motors of the robot arm are assigned to the joints, such that the joints can be automatically adjusted by actuating the motors by means of the robot control device in order to adjust the links of the robot arm relative to one another , so that one arranged on a flange of the robot arm
  • Connector of the device is moved in space, the connector automatically into a receptacle on the vehicle corresponding to the connector
  • the links, joints and motors for driving the joints being designed in all movement possibilities of the
  • the robot arm always transmits less than 120 N and particularly preferably less than about 60 N force to the collision body, and the device comprises a further drive which is designed to move the connector out of a pre-position of the connector that is approached by moving the robot arm, in which the connector is protected against tampering before the vehicle is received, in a plug end position in which
  • the robot arm can comprise a plurality of links arranged one after the other and connected by means of joints.
  • the links are in particular a base frame and a carousel rotatably mounted relative to the base frame about a first axis of rotation.
  • a swing arm is at one end e.g. on a not shown
  • Swing arm bearing head mounted on the carousel so that it can pivot about a second axis of rotation.
  • an arm arm is pivotally mounted about a third axis of rotation.
  • This arm arm carries at the end a robot hand with its preferably three further axes of rotation.
  • the arm arm can have a base arm pivotably mounted on the rocker arm.
  • a front arm of the arm arm can be rotatably mounted on the base arm about a fourth axis of rotation.
  • further links of the robot arm can be, in addition to the base frame, the carousel, the rocker and the base arm, further links of the preferably multi-axis robot hand with a fastening device designed as a flange for fastening the connector.
  • the robot arm can accordingly be designed, for example, as serial kinematics, in particular in the manner of an articulated arm robot or in the manner of a so-called SCARA robot.
  • robot axis configurations that represent singularities.
  • a singularity is characterized in that two joints, ie axes of the robot, are in the same alignment with one another, ie the axes of rotation of these two joints lie on the same straight line.
  • a typical configuration with singularity is, for example, a fully extended position of the robot arm in the case of a 6-axis kick arm robot.
  • the first axis and the last one, ie the sixth axis are aligned.
  • the robot controller cannot clearly assign a rotation to be carried out about these axes to the first axis or the sixth axis.
  • Another constellation is given when the fifth axis is zeroed, in which the fourth axis and the sixth axis are aligned. There is infinite here too many axis divisions, so that the robot control no clear
  • Axle joint positions can calculate.
  • Movements of the robot arm in the vicinity of singularity positions can lead to unforeseen reactions for users of a robot. Lead movements of the robot arm. In theory, infinitely large speeds of joint movements could occur in purely arithmetical terms. Of course this is not possible in reality, but suddenly it can be very high
  • the device for avoiding singularity positions of the robot arm can be a control-technical device that can be set up, for example, in the robot controller and, through a redundant and / or diverse design of the control components, forms a safe robot controller such that the robot controller
  • the device for avoiding singularity positions of the robot arm can be a mechanical device such that the robot arm on at least one of its joints, on several joints or even all joints in one direction of rotation or in both directions of rotation of the respective joint by mechanical stops in its freedom of movement is limited, the mechanical device being designed and
  • the stops can be formed, for example, by rigid projections on the adjacent links or link housing parts which are connected by the joint.
  • the device for avoiding singularity positions of the robot arm can be one of the joints and / or the
  • Robot arm separate mechanical safety device, the movement of the robot arm from the outside with external from the robot arm
  • Boundary rope which is fixed statically at its first rope end, for example attached to a wall, a foundation or a floor, or is connected to the base frame of the robot arm.
  • the other, second rope end can be with the flange of the robot arm or with one in the
  • the limiting rope can have a fixed length or a length that can be extended, retracted and, in so far, variable, but a maximum extension length of the limiting rope is predetermined or mechanically limited. Due to the fixed length or due to the maximum extension length, the robot arm can be operated using the
  • Boundary rope are held back so that the robot arm can not take its division.
  • Execution be a boundary rope that has a fixed length.
  • the boundary rope can have an extendable and retractable length that is variable in this respect, but a maximum extension length of the boundary rope is predetermined or mechanically limited.
  • the limiting rope is extendable and retractable or extendable and retractable, prevents the limiting rope from sagging and ensures that the limiting rope is always tensioned.
  • the switching device can be connected to the robot controller.
  • the switching device and the robot controller can be designed in connection with one another to monitor the limiting rope, such that when the maximum length of the limiting rope is reached or when the maximum extension length is reached, the switching device sends a signal to that extent
  • Robot control sends that the reaching or at least an approach of the robot arm to one of its singularity positions indicates.
  • the safety of the loading robot i.e. of the robot arm is increased by avoiding singularities in the position or pose of the loading robot, the avoidance being preferred by means of a hardware
  • the safety device is preferably designed as a limiting rope that prevents the robot arm from moving into a singularity position, in particular into an extended position of the robot arm.
  • one aspect relates to a device for loading a
  • Electric vehicle with electrical energy comprising one or more of the following features: a loading robot with a plurality of links which are connected to one another via rotatable or rotatable or displaceable axes;
  • a charging plug which is either arranged on an end effector of the loading robot or forms the end effector;
  • At least two charging contacts which are formed on the charging plug and are designed to conduct the charging current for the electric vehicle;
  • At least one protective contact which is electrically connected to a protective conductor, and which is designed and arranged to electrically contact a complementary protective contact on the vehicle to be charged before the two charging contacts are electrically contacted;
  • Communication conductor is electrically connected, and which is preferably designed and arranged to electrically contact a complementary communication contact on the vehicle to be charged before the two charging contacts are electrically contacted and in particular is designed and arranged to contact after the protective contact is contacted;
  • At least one actuator which can be arranged in or on the charging plug of the charging robot, and which is arranged and designed to engage with the complementary charging plug of the vehicle or
  • one or more thru axles which are mainly actuated to carry out a plugging process of the charging plug
  • one or more positioning axes which are mainly actuated to carry out a positioning process of the charging plug
  • Drives of the positioning axis (s) are preferably weaker than the drives of the plug-in axis (s).
  • the loading robot can be designed with weaker drives and a less stiff and therefore lighter mechanism, which reduces material and manufacturing costs. Further advantageously, a risk of People are excluded by the loading robot due to its structure and advantageously without additional safety devices.
  • Charging sockets can be connected either manually or robotically or automatically.
  • a charging robot automatically electrically and mechanically connects the charging plug of the charging station to the complementary charging plug of the vehicle.
  • 6-axis or 7-axis mechanisms can be used, with one or more axes (positioning axes) predominantly the
  • the plug-in axes are generally designed to be stronger, in particular with stronger drives, than the positioning axes. It goes without saying that one or more axes can take on the task of being a thru axle and positioning axis.
  • communication conductors CC1, CC2
  • protective conductors PE
  • the contacts connected to the communication conductor or protective conductor are leading. They contact in particular in the order protective conductor, first communication conductor, second communication conductor (PE-> CC2-> CC1).
  • the complementary plug contacts can each be connected to a voltage source via a resistor.
  • current circuits are successively energized during the plugging process, so that the charging station can determine the plug sequence using measurement technology.
  • the closing of the circuits by the leading contacts can be provided to the robot controller as an additional signal to cause the robot controller to take an action, for example to start and / or stop the drive (s) for one or more axes.
  • the evaluation can preferably be carried out using a resistance measurement
  • connector-side contacts could be made on the plug or via appropriate communication with the charging station.
  • an RF chip (also as an RFID chip or near-field communication device) can be arranged in or on the charging plug of the vehicle.
  • the range of the chip is very small, preferably less than 1 m, particularly preferably less than 50 cm and in particular less than 10 cm, so that the signal can only be measured or evaluated if the charging plug of the charging station approaches the vehicle or its charging plug successfully .
  • the content of the RF chip could also be used by the charging system to
  • An antenna must be provided on the end effector of the loading robot so that the content of the chip can be read out.
  • the antenna can be connected to the charging station or the controller of the charging robot in order to transmit the data read by the RF chip to the charging station or the controller.
  • a safety controller can preferably be simplified as follows: the power supply for driving the thru axle (s), in particular also the associated brakes, is interrupted by a safety relay (see also FIG. 2). This safety relay is connected on the input side to the signal from the leading contacts and / or the antenna evaluation (RF chip). A safety bus is preferably avoided and the drive of the thru axle (s) and preferably also the associated brakes are supplied via separate lines via the safety relay. In the switched state that supplies
  • Safety relay i.e. the drive or motor driver (possibly also the brakes) with the supply voltage and is able to safely disconnect them. This additional line is shown in red in FIG.
  • Another aspect of the invention relates to a charging plug
  • the charging plug comprising one or more of the following features:
  • At least one actuator which in or on the charging connector of the vehicle
  • a charging plug of a charging device robottic or manual
  • a plug-in force in order to move the two charging plugs into a plug-in position in which the two charging plugs lock together can be, preferably by means of the actuator.
  • the loading robot could be supported by the actuator during the plug-in process, the thru-axles, which have been designed to be stronger to date, advantageously being able to be made weaker.
  • the plug-in axes can expediently be designed analogously to the positioning axes, as a result of which inherent security would be generated, since the weakly designed positioning axis does not pose any risk to persons. This concept would be an alternative to the concept described above with a safety relay.
  • the actuator could also be arranged on the charging robot side of the charging plug of the charging station.
  • the frictional connection of the plug-in process would not be applied via the charging robot, but in a very short way via the vehicle or the charging plug of the charging station.
  • the loading robot needed
  • the charging circuit can be modified in such a way that the closing of contacts can be detected.
  • the modification could either be on the socket side or on the side of the charging cable or on the side of the charging box.
  • the modifications to a large number of charging boxes and plugs could be matched accordingly in order to be compatible
  • the plug can expediently only move in the plug-in direction, that is to say in the z-direction, since the orthogonal directions x and y are blocked by the plug on the vehicle or the inlay are.
  • the condition that the connector, for example the charging socket on the cable, can no longer be moved significantly in the plug pre-position can preferably be used as a test condition in order to ensure that the plug pre-position is reached determine.
  • the robot can attempt to move in the x and / or y direction by small test movements. If this movement does not succeed, it is an indication that the
  • the robot could be stuck somewhere else in the x and y directions, so that the condition would also be met. This could happen, for example, if the image processing erroneously detects a plug profile (inlay) at an incorrect location, the latter is then approached and blocking occurs in the x and y directions, but not in the z direction. This is a
  • An electrical connection between the charging cable and the vehicle is preferably established in the plug-in preposition via the leading contact, so that currents can flow between the vehicle and the charging box.
  • These currents are preferably detected by a measuring device, in particular without forming a galvanic contact between the measuring device and the leading contact.
  • the measuring device can be inductively or capacitively coupled to the leading contact or a line electrically connected to it.
  • the electrical connection can advantageously be detected or detected in the plug-in preposition without having to change the current supply or charging circuit to connect the measuring device required for this.
  • a charging robot which can expediently be used to plug the charging socket of the charging cable into the plug of the vehicle, preferably has a robot control which, instead of a closed loop control of the charging robot, performs a power control (open loop control).
  • the robot controller preferably does not have a closed control loop or the loading robot does not have any force sensors. It can be expediently assumed that the motor currents
  • the drives of the loading robot are proportional to the engine torque delivered. Effects such as friction and hysteresis can occur
  • the robot-side or charging cable-side socket When the robot-side or charging cable-side socket is plugged into the vehicle-side connector, the position of the connector and the direction of insertion are preferably known.
  • the insertion forces are also generally known.
  • the dynamics of the robot are advantageously not present, so there are essentially none
  • Loading robots can be increased in relation to nearby people. A pure position control does not offer these advantages.
  • the movement of the loading robot can be divided into two sections. First in a positioning run, which requires only little force, since only the loading robot and the charging socket including the
  • Charging cables must be moved. It can be done with drives or gears or joints that are intrinsically safe, that is, preferably with drives and / or joints that are mechanically weak in such a way that a collision with a human being leads to a mechanical one
  • the arrangement of axes two and three is preferably such that they do not have to work against gravity.
  • the second part of the movement is the plug-in process, which preferably comprises a linear movement which requires higher forces, which are not intrinsically safe or can be implemented by intrinsically safe drives or joints or gears.
  • the positioning run can preferably be carried out with axes 1 -4
  • axis 7 the last axis or the distal axis or axis 5 in the case of a 5-axis loading robot. It is preferably avoided that the reaction forces of axis 7 (distal axis) have to be supported by drives of axes one to six, since these would then generally no longer be able to be formed intrinsically. In an alternative, this can be achieved by means of a screw that cannot be driven back on the motor.
  • the worm is in mesh with a gear.
  • the reaction forces from a plastic gear may not be able to be absorbed, as a result of which they slip and the teeth in the gear can be destroyed.
  • An improvement is possible in that the drive motor engages the plastic gear via a gearwheel, which in turn engages in a worm arranged on the outlet side.
  • the self-locking mechanism then takes place after the gearbox and not in front of it, which advantageously protects the gearbox from excessive reaction moments.
  • the axis can be controlled two to six after the positioning run by a controllable one
  • Parking brake be designed to be lockable. As a result, the reaction forces can then be supported by the parking brake.
  • the parking brake preferably only holds when it is energized (that is to say deviating from a spring-loaded brake used in other robots, which engages when de-energized), so that there is also a simple self-liberation option for people in the event of a power failure.
  • the functionality of the brake can be checked by monitoring for changes in the joint angle using the position sensors of the determined axles.
  • a comparison can also be carried out via image processing.
  • Components for axes one to six can be provided in a material-saving and cost-effective manner, a charging robot that is sufficiently safe for cooperation with humans, but still has sufficient plug-in power to reliably charge an electrically operated vehicle .
  • the safety of the loading robot is preferably increased by avoiding singularities in the position or pose of the loading robot, which is preferably avoided by a hardware-based safety device.
  • the safety device is further preferably designed as a limiting rope that prevents the loading robot from moving into a singularity, in particular in an extended position.
  • the loading robot preferably has a vertical guide with a drive, as a result of which the robot arm can be displaced vertically.
  • the axis 1 of the loading robot can be designed as a linear axis.
  • the drive unit of the linear axis should be designed in such a way that it bears the load of the robot arm and the charging socket together with the cable, which means that an intrinsically safe design is generally no longer possible and increased expenditure in terms of control with regard to the safety of the (linear) axis 1 are necessary.
  • the sinking of the vehicle should be recorded and, accordingly, axis 1 should remain under control. This leads to higher wear and power consumption.
  • the loading robot preferably has a weight compensation for the linear axis 1.
  • the robot arm, slide of the linear axis, and the motor of the slide have the mass m r .
  • the weight of the mass m r is particularly preferably coupled to the counterweight m g via a connecting link, such as a rope or chain, and the forces are largely balanced.
  • the mass of the counterweight m g is selected so that in the
  • Static friction of the deflection roller is greater than the resulting force, so that the loading robot does not move without an electric drive.
  • a brake should preferably be provided so that the intrinsically safe character of axis 1 is not violated.
  • the brake is opened and the drive unit of axis 1 is preferably designed to be driven back.
  • the weight compensation can also be carried out by a spring force, in which case an exact constant compensation over the entire stroke path is not entirely successful due to the non-linearity of the spring.
  • One aspect of the invention relates to a connector which is designed to be connected to a complementary connector by displacement along the direction S, the connector comprising: - At least one electrical contact, which is designed to contact with a complementary electrical contact of the complementary connector;
  • At least one actuator which is designed to mechanically contact a complementary actuator of the complementary connector in a plug-in preposition
  • the connector being displaceable by means of the actuator along the direction S relative to the complementary connector into a plug end position.
  • the actuator applies the force necessary for shifting from the pre-plug position to the plug end position along the direction S, so that in particular no external force has to be applied to the connector.
  • This is advantageous both for manual connection, since a user only has to exert a small force to reach the plug pre-position, and for automatic connection using a robot according to the invention, since this does not have to activate a drive in order to effect the shift into the plug end position.
  • the connector according to the invention is therefore independent of the use of a robot.
  • the actuator can be, for example, a linear actuator, which in the
  • Plug pre-position comes into engagement with a complementary actuator of the complementary connector and causes the relative displacement of the connector and the complementary connector by a linear actuation.
  • the actuator can alternatively be a rotating actuator, which in the
  • Plug pre-position comes into engagement with a complementary actuator of the complementary connector and causes the relative displacement of the connector and the complementary connector by rotating or rotating actuation.
  • the actuator can comprise an internal thread or an external thread, which is in engagement with a complementary thread of the complementary actuator and leads to a relative displacement of the connectors due to a rotation of the threads relative to one another.
  • the rotating actuator can also be designed as a lever which can be rotated or pivoted about an axis, in particular perpendicular to the Plug direction S is aligned, so that pivoting of the lever leads to a relative displacement of the connector and complementary connector along the plug direction S.
  • the actuator is a linear or rotating actuator
  • the actuator can preferably also serve to lock the connector and complementary connector in the plug end position.
  • the actuator can act as a locking element.
  • the state of the locking element can be checked by a locking sensor, the state or the change in the state of the
  • Locking element to the control of the robot and / or to the
  • On-board electronics of the vehicle can be signaled, for example via one of the lines of the charging cable.
  • unlocking of the locking element in particular by a manual action of a
  • Both the vehicle and / or the robot or the charging device can use the corresponding signal to measure the current or
  • the connector or the electrical contacts are preferably covered, for example by a cover cap or by at least partially receiving the connector in a connector receptacle.
  • the connector receptacle can be arranged on the charging device, the robot or separately from both. In particular, the connector receptacle does not make any electrical contact.
  • the connector receptacle at least partially encloses the connector, preferably in a moisture-tight and / or dust-tight manner, so that the connector is protected in the parking position from environmental influences, such as dust, moisture and the like, which advantageously prevents corrosion or contamination of the electrical contacts .
  • the connector preferably has an excellent electrical contact, which contacts an associated complementary electrical contact of the complementary connector during the connection process before further contacts of the connector are contacted by the associated contacts of the complementary connector.
  • Electrical contacting of the excellent electrical contact with its complementary electrical contact preferably indicates that the plug pre-position has been reached and initiates activation of the actuator in order to reach the plug end position.
  • the actuator can be activated or deactivated via a switching element on the connector.
  • a switching element on the connector In the preferred use of the connector with a
  • the activation or deactivation of the actuator can also take place via the robot controller.
  • the connector can also be used as a more complementary connector of the robot and vehicle arrangement described above, the actuator then being expediently controllable by the on-board electronics of the vehicle.
  • the connector described above in one aspect can be used with the robot of the present invention described above. Therefore, all of the features of the connector disclosed with respect to the robot can also be in the connector according to one aspect, particularly according to
  • Claim 20 may be provided. Conversely, according to one aspect, in particular according to claim 20, all described features of the connector can also be provided in the robot for automatically charging a vehicle.
  • Figure 1 is a schematic representation of a standard configuration of a safety controller.
  • FIG. 2 shows a schematic illustration of a configuration of a safety controller with safety relays in accordance with the standards
  • FIG. 3 shows a schematic illustration of a defined arrangement for a robot or loading robot, in which a safety relay supplies a motor driver of the seventh axis;
  • FIG. 4a shows a first variant of a connector along a section
  • FIG. 4b shows the connector of FIG. 4a along another section
  • Fig. 5 is a circuit diagram of an exemplary charging circuit with preferred
  • Fig. 6 shows a vehicle-side inlet or an electrical connector as one
  • Fig. 7 modified embodiments of a connector on the vehicle
  • FIG. 8 shows a schematic illustration of an exemplary arrangement for inductive measurement in the context of a communication device
  • Fig. 9 is a schematic representation of an alternative capacitive
  • Loading robot in the form of a SCARA robot with an electrical charging device which has an end effector carrying the connector;
  • Figure 1 1 is a schematic representation of a person who is clamped near the singularity of the loading robot.
  • Fig. 12 is a schematic representation of the prevention of starting a
  • FIG. 13 shows an embodiment of the robot or loading robot with a
  • Fig. 14 is an enlarged view of the connector carrying
  • 16a shows a preferred first embodiment of a support device of FIG.
  • 16b shows a preferred second embodiment of a support device of FIG.
  • 17a-c show a preferred embodiment of an arrangement of connectors and complementary connectors
  • FIG. 1 shows a schematic illustration of an example
  • Safety controller 100 is controlled on the basis of physical variables 101.
  • the physical quantities 101 can be determined using at least one
  • Security sensor 102 in particular a camera 103.
  • Measured quantities are forwarded to the safety control device 105, to a robot controller 106 and / or an image processing system 107 via secure communication channels 104.
  • the robot controller 106 controls the motor controllers 108, to which a safe one
  • Torque cut-off 109 (Safe Torque off) is connected, the motor controller 108 actuating a seventh motor 110, for example. Furthermore, the brakes assigned to the axes of the robot 1 1 1 a, 1 1 1 b, 1 1 1 c,
  • FIG. 2 shows a schematic illustration of an exemplary configuration of a safety controller 200 with safety relay 214 in accordance with the standards.
  • the safety controller 200 is controlled on the basis of physical variables 201.
  • the physical variables 201 can be detected by means of at least one security sensor 202, in particular a camera 203.
  • a robot controller 206 can evaluate the plausibility check. Measured quantities are only forwarded to a robot controller 206 and / or possibly an image processing 207 via secure communication channels 204.
  • a safety control device (Fig. 1, 105) can thus be omitted.
  • the robot controller 206 continues to control the motor controller 208.
  • safety relays 214 are now used. To this extent, they replace a safely designed torque switch 109 (Safe Torque off) and a safely designed brake control 1 12 (Safe Brake Control).
  • the brake control 1 12 can be designed such that the brakes 21 1 a, 21 1 b, 21 1 c, 21 1 d open if the safety relay drops out, since the robot remains movable when the brakes are open and inadvertently moves jammed people can be easily released, while the brakes 21 1 a, 21 1 b, 21 1 c, 21 1 d can only be closed if there is a safe state, that is to say the safety relay 214 is closed.
  • the safety relays 214 control both the seventh motor 210 and the brakes 21 1 a, 21 1 b, 21 1 c, 21 1 d.
  • FIG. 3 shows a schematic illustration of a fixed arrangement for a loading robot, in which a safety relay 314 supplies a motor driver of a motor 302a of the seventh axis.
  • the 6-pole lines 300 for example, control the motors 302 via microcontrollers 301.
  • brakes 303 can be assigned to them (left drive 304).
  • a sensor arrangement 305 can be correspondingly assigned to it, for example (right drive 306).
  • An additional controller 307 and / or other computer modules 308 can be connected to the 6-pin lines 300.
  • FIG. 4a shows a sectional view of a first variant of a charging plug 401 as an embodiment of a connector 401 of an inventive one
  • FIG. 4b shows a further section through the plane GG of the connector 401 shown in FIG. 4a. This is a standardized one
  • FIG. 4 shows a connector 402 which is complementary to the connector 401, the connector 401 and the complementary connector 402 being in a plug end position and the electrical plug contacts 403, 405, 407 of the connector and the complementary ones
  • electrical plug contacts 404 of the complementary connector 402 electrically contact each other.
  • the plug contact 403 of the protective conductor contacts the complementary plug contact 404 of the protective conductor.
  • FIG. 5 shows a preferred charging circuit.
  • a preferred connection of the electrical plug contacts 403, 407 of the connector 401 and the associated complementary plug contacts 404, 408 of the complementary connector 402 is shown.
  • the plug contacts 403, 407 (the power contacts with which the actual charging current is transmitted are not shown) configured such that at least one contact 403 leads, ie protrudes in particular along the insertion direction S.
  • the plug contacts contact in the order 403 (PE pin), then 407 (CC2), then 407 (CC1).
  • FIG. 6a shows the perspective view of an inlet on the vehicle or an electrical plug as an embodiment of a receptacle on
  • FIG. 6b shows this complementary connector 402 in a top view along the plug-in direction S.
  • the vehicle in which the complementary connector is preferably installed is not shown.
  • the complementary connector 402 has complementary ones
  • FIGS. 7a and 7b show a modified embodiment of a
  • Charging plug 3 inlet on the vehicle (receptacle or complementary connector 3) in a plan view and an electrical charging socket 2 on the charging cable
  • the connector 2 is particularly easy to hold manually, since a handle 8a is formed on or in one piece with the connector 2.
  • the handle 8a can preferably also be designed such that it can be gripped by a gripper (not shown) of a robot (not shown).
  • the charging socket 3 can advantageously be handled both manually and automatically with the aid of a robot.
  • the handle 8a can have at least one complementary positioning means 13 which is associated with an associated one
  • Positioning means of the gripper can engage when gripper and handle 8a are positioned relative to one another in a known manner or correctly.
  • the positioning means 13 can be, for example, recesses or geometric shapes in the area of the handle 8a with which the connector 2 can be aligned.
  • FIG. 8 shows a preferred possibility of measuring that the
  • the charging cable 801 is passed through a modified current clamp 802. It measures the total current flowing through the (unshielded) charging cable 801 between the vehicle 804 and the power source 803 or charging box 803. Charging currents are not taken into account in the following, since they are zero during the plugging process and should add up to zero via the outgoing and return current.
  • FIG. 8 shows a modified measuring clamp (current clamp 802), which works according to the transformer principle and implements the coupling via induction. Ipar are the currents which either flow off directly via the unplugged charging cable 801 or via the charging box 803.
  • the charging box 803 also contains an internal circuit with resistors (cf. FIG. 5).
  • the current clamp 802 has a coil with n turns, via which a permanently impressed alternating voltage U ⁇ sec is applied.
  • the current clamp 802 induces a voltage of U ⁇ sec / n in the charging cable (in the case of an ideal one
  • the current l ⁇ sec can be impressed instead of the voltage U ⁇ sec and then the change in the caused by the plugging process
  • the capacity of the vehicle CFzg is recognizable; a signal remains recognizable due to the wave resistance of the charging cable, although the charging box shorts the line to PE;
  • the charging cable should be relieved of strain when attached to the tank robot. This task can be carried out by a suitably trained current clamp. Other security options are to receive the information of the leading contact via an interface from the charging box or via WLAN (preferably via a secure bus interface) from the vehicle.
  • FIG. 9 shows an alternative capacitive detection of the plug pre-position by a frequency-coordinated signal initiation.
  • the contact of the car body to the protective conductor can be recognized by a frequency-matched capacitive coupling.
  • the signal of a frequency generator 901 is shielded
  • Coaxial line 902 led to a transmission electrode 903. This can
  • the charging cable 904 for example, comprise a piece of wire of a certain length, which is wound lengthwise to the charging cable 904 or around the charging cable 904.
  • a coil open on one side along the charging cable 904 is also conceivable.
  • a suitable frequency can be tuned in the sense of a resonance to ensure good transmission from the transmitter to the receiver if the charging cable 904 is not plugged into the car 907 via the charging plug 906, but is only connected to the power supply 908. There is a frequency in the lower
  • the received signal can be freed from network hum using a 909 high-pass filter.
  • An amplifier and a level measurement complete the measuring device, which may also communicate with the robot controller 910.
  • Receiver electrode 905. By tuning the charging cable 904 without a connected vehicle 907, the received signal breaks down when the charging cable 904 is connected to the vehicle 907, in particular if the
  • the pre-position is reached and the electrical contact is established.
  • This dip in the received signal can advantageously be used to detect the
  • the optimal transmission frequency can preferably be tuned immediately before the plugging process, in particular in automated form. Fluctuations in signal transmission due to temperature and humidity can thus be advantageously compensated for.
  • FIG. 10 shows a preferred embodiment of a robot 1 or
  • Charging robot 1 which can expediently be used to plug the charging socket 2 as an embodiment of the connector 2 of the charging cable 801 into the charging plug 3 as an embodiment of the complementary connector 3 of the vehicle (not shown), which forms the receptacle on the vehicle.
  • the loading robot 1 has a positioning device 6 or a robot arm 6.
  • the positioning device 6 has two or more, for example lying or horizontal arranged members 29a, 29b, which are articulated or rotatably connected to each other about the axis A3.
  • the one upper link 29a is connected in an articulated or rotatable manner about the axis A2 to a base 30 or a proximal link 30, wherein the base 30 can be arranged or fastened, for example, on an upright wall.
  • the link 29a is preferably vertical along the thrust axis A1
  • the positioning device 6 shown has three rotary axes A2, A3, A4 each with a controllable axle drive and e.g. more vertical
  • a height adjustment 11 (see FIG. 14) of the end effector 5 can form at least one further and preferably controllably driven movement axis A1.
  • This can e.g. be a linear axis at the connection point to the base 30.
  • the number and arrangement of the links 29a, 29b can vary.
  • linearly movable members 29a, 29b in the manner of a multi-stage slide guide are possible.
  • Combinations of rotatory and translatory members 29a, 29b and their axes of movement are also possible.
  • the limbs 29a, 29b of the robot arm shown in FIGS. 10 and 14 are configured as a SCARA robot.
  • the electrical charging device 1 can have a control which is not shown in FIG. 10 for the sake of clarity.
  • the controller can be programmable and can have a corresponding computing unit with data and program memories and interfaces for input and output.
  • the controller can be connected to the drives of the positioning device 6 and an infeed device 9 and a holder 8.
  • electrical charging device 1 may be connected, as follows
  • the electric charging device 1 can also be preferred have wireless and also not shown communication device which has a receiver and possibly a transmitter.
  • Communication device can e.g. work on a radio basis and unidirectionally or bidirectionally with a vehicle 4, a mobile radio device or smartphone, a higher-level control for energy management, etc.
  • the electric charging device 1 can also be e.g. optical and / or acoustic display for reporting operating states, faults,
  • the communication device and the display can be connected to the controller.
  • the charging device 1 is used for the automatic delivery and coupling of the electrical charging socket 2 of the connector 2a to the charging plug 3 of the
  • the charging device 1 is e.g. at a parking space for the vehicle.
  • the charging device 1 has the positioning device 6, which carries the end effector 5, which in turn is the electric charging socket 2 of the charging cable, i.e. holds the connector.
  • the charging socket 2 and the charging plug 3 i.e. the receptacle on the vehicle can be designed in any suitable manner and can be coupled and, if necessary, uncoupled.
  • the charging socket 2 is movable by means of an electric cable and is connected to a power supply, which e.g. is stationary. It can be used as a floor-mounted charging station
  • Charger can be formed on a wall or in another suitable manner.
  • the charging socket 2 or the connector 2 can be positioned on positioning means 13 which are arranged in the region of the handle 8a of the connector 2
  • FIGS. 10 and 14 show the end effector 5, the positioning device 6 and the vehicle 4 with the charging plug 3 and the complementary connector 3 being indicated schematically.
  • End effector 5 and an exemplary positioning device 6 shown. 14 shows details of the end effector 5.
  • the end effector 5 has a holder 8 with a handle 8a, one
  • the end effector 5 can also have a detection device 10.
  • the end effector 5 also has a connection 21 for connection to the positioning device 6.
  • the connection 21 is e.g. flange-shaped and can be used with e.g. also flange-like and rotating about an output axis output element 7 of the positioning device 6 in a suitable manner, e.g. by screws. It goes without saying that the end effector 5 can alternatively be designed as a distal member of the positioning device 6 without a connection 21 and a flange complementary thereto being provided.
  • the holder 8 serves for the permanent or alternating reception of the electrical charging socket 2.
  • the charging socket 2 can be designed in any suitable manner. He can e.g. a handle 8a for an optional
  • the handle 8a can have the properties described in connection with FIG. 7.
  • the holder 8 has a plug holder 12 which accommodates the charging socket 2 in a suitable manner and with a defined position and orientation.
  • the connector holder 12 can e.g. engage in the opening on the handle 8a of the charging socket 2.
  • the plug holder 12 can be passive or by means of a controlled one
  • the plug holder 12 can receive a charging socket 2 permanently or temporarily, in particular grip it.
  • the holder 8, in particular the plug holder 12 can selectively grip different, ready-made charging sockets 2 from a magazine. The selection can be made by means of a detection device 10 explained below take place, which recognizes the vehicle-side charging plug 3 and the
  • the charging device 1 can generate an oscillation or vibration. This acts on the held charging socket 2 and causes vibrations of the
  • Charging socket 2 which are directed transversely or obliquely to the feed direction or to the plug-in direction when coupling and uncoupling.
  • the oscillation can e.g. can be generated by a movement of the positioning device 6.
  • the holder 8 is arranged on the delivery device 9.
  • the delivery device 9 delivers the holder 8 and the charging socket 2 in a preferably translatory, in particular linear, feed movement to the charging plug 3 for coupling. You can also pull the charging socket 2 back in the same direction for decoupling. If necessary, a lock on the charging socket 2 can be released with a suitable release device (not shown).
  • the delivery device 9 has at least one delivery unit 15, 17. In the exemplary embodiment shown, it contains two delivery units 15, 17. These are arranged on a frame 14.
  • One delivery device 15 has a movable feed element 16, on which the holder 8 is arranged in a defined position and orientation.
  • One delivery unit 15 is e.g. designed as a translatory feed unit and causes the feed movement in the plugging direction of the charging socket 2 and the charging plug 3, which for this purpose e.g. are aligned.
  • the delivery element 16 belongs to this delivery unit 15 and is e.g. trained as a sled.
  • the delivery unit 15 has a controllable drive. This can e.g. have an electric motor with a rack and pinion drive in connection with the slide guide for the feed element 16.
  • the second delivery unit 17 can be a rotary delivery unit, for example. It is arranged on the frame 14.
  • the rotary feed unit 17 is connected upstream of the translatory feed unit 15, for example, and carries it.
  • the infeed axis the rotary feed unit 17 can be aligned transversely to the linear feed movement of the translatory feed unit 15.
  • the translatory or linear infeed movement and the charging socket 2 can be adjusted to a given inclined position, the so-called pitch angle, of the charging plug 3 on the vehicle 4 in alignment with the vehicle.
  • the charging socket 2 is arranged with a predetermined orientation on the feed element 16. His current contacts and possibly his
  • Plug sockets are aligned parallel to the feed direction or feed movement.
  • the rotary feed unit 17 can e.g. be designed as a pivot bearing between the frame 14 and the other delivery unit 15. The setting of the swivel position or inclined position of the other delivery unit 15 and its
  • Delivery element 16 can be done manually and is fixed in a suitable manner, e.g. by a clamping screw. Alternatively, the rotary
  • Delivery unit 17 have a controllable drive.
  • the frame 14 may have an attachment on the front, on which the
  • Detection device 10 or at least one of its components is arranged.
  • the approach and the front are aligned with the front end of the charging socket 2 and the vehicle 4 or the charging plug 3.
  • the front-side attachment and / or the detection device 10 can alternatively be arranged on the infeed element 16 and carried along during the infeed movement.
  • the end effector 5 is at least in the case of the embodiment
  • the end effector 5 can also be slightly inclined. The orientation is chosen such that it has at least a clearly predominant vertical direction component. In the operating position, the end effector 5 is preferably arranged and held in a hanging manner on the positioning device 6.
  • the height compensation device 11 is assigned to the delivery device 9, preferably upstream. For example, it is above and on the
  • Delivery device 9 arranged. It is e.g. mounted on their frame 14.
  • the height compensation device 1 1 shown carries the connection 21 for the positioning device 6 at one upper end.
  • the height compensation device 1 1 can be extended and retracted in the vertical direction in order to implement a height adjustment. It is provided for the charging socket 2, in particular the holder 8, and is adjustable in at least one axis. Through this flexible and optionally active or passive adjustability, relative movements between the vehicle 4 and the positioning device 6 during charging and in the coupling position of the charging socket 2 and the charging plug 3 can be compensated.
  • the height compensation device 11 has only one movement axis, which e.g. is designed as a translational movement axis.
  • the movement axis is oriented vertically in said operating position or at least has a predominant vertical directional component. It extends e.g. along the aforementioned orientation of the end effector 5.
  • the height compensation device 1 1 has in the embodiment
  • the length-adjustable compensating element 23 which e.g. is designed as a telescopic rod.
  • the compensating element 23 can have a straight guide, which acts in its direction of movement and avoids twisting of the telescopic parts.
  • the compensating element 23 is at one, upper end with the
  • Port 21 is fixed or rotatably connected and is connected to the other port 22 at the other, lower end.
  • a base 25 and a sleeve 26 can be arranged, which can be brought into engagement with one another in the axial direction when retracted. They stiffen the height compensation device 1 1 in the retracted position and can absorb forces and possibly moments occurring when the charging socket 2 is being delivered.
  • the height compensation device 11 has a locking device 24 for at least one predetermined one
  • the detection device 10 can take. This is preferably the retracted position. This can be detected by a suitable sensor system, in particular limit switches. As an alternative or in addition, the detection device 10 can have one
  • Have distance sensor 19 which is arranged on the front of said attachment of the frame 14.
  • An image capturing device 18 and the distance sensor 19 can have a viewing direction pointing towards the front end of the charging socket 2.
  • the detection device 10 can additionally have an illumination 20.
  • FIG. 1 1 shows a person 1 101 who is close to a singularity of the
  • Loading robot 1 102 is squeezed. Since the loading robot 1 102 can exert considerable forces in this particular pose due to the singularity with low motor torque, although the maximum positioning force is not exceeded in other poses, this situation should also be avoided for safety reasons in order to perform the underlying task in all poses of the loading robot 1 102 to solve. The situation can arise if the vehicle 1 103 is too far away from the charging robot 1 102, but the plug-in position could still be reached by moving to the singularity. This can be avoided by a limiting rope 1201 (FIG. 12) as a preferred safety device, the
  • Boundary rope 1201 can be attached between the second axis and fourth axis (see Figure 12). The length of the perimeter rope is 1201
  • the boundary rope is 1201
  • FIG. 13 shows an example of a weight compensation device 1301.
  • a carriage 1302 is mounted on a lifting column 1303 so that it can be adjusted in height.
  • the slide 1302 is suspended from a counterweight 1305 by means of a rope 1303 and a deflection roller 1304.
  • the lifting column 1303 in this case has a counterweight 1305 in antagonistic construction to the slide 1302, that the dead weight of the carriage 1302 and possibly also the dead weight of the robot arm 1306 attached to the carriage 1302 or the positioning device 1306, in particular including the connector.
  • the drive for lifting the slide 1302 in the vertical direction against the direction of gravity does not have to raise the weight forces of the slide 1302 and the robot arm 1306, but the drive for the lifting merely applies the actuating forces for moving the slide 1302, so that advantageously only weak drives can be used in order to contribute to the solution of the task of providing a safe loading robot.
  • FIG. 14 shows an enlarged illustration of that shown in FIG. 10
  • End effector which carries the connector 2.
  • the identical elements are provided in FIG. 14 with the same reference numerals as in FIG. It is shown that the last axis of the robot, which can in particular be the seventh axis, is designed as a thrust axis, as a result of which the connector 2 can be displaced linearly along the direction S. By shifting along the direction S, the connector 2 can be displaced relative to the complementary connector 3 in order to plug and connect the two or to move and separate them.
  • the registration mainly describes, among other things, that
  • the first six axes of the robot arm should be harmless and only the last or seventh axis of the robot arm should be strong and can only pose dangers.
  • This seventh axis can be protected by logic and safety-related circuits. That means a certain constructive effort.
  • the first four axes can either pass through
  • Locking mechanism 1507 can be provided, which, as soon as the plugging process has been successful, locks the inserted connector 2 or connector 2 in the complementary connector 3 and thus e.g. Theft prevented.
  • a driven actuator 1508 could now intervene in the sense of a further embodiment of the invention, which pulls the connector 2 into the vehicle and locks it as soon as the leading contacts 1501 b have gripped.
  • the robot would then not need the strong 7th axis and it would be possible to dispense with all of the safety effort and to make the robots smaller in total. This mechanism would be conceivable on the connector side. The frictional connection of the plugging process would not run over the robot but over the vehicle in a very short way. The robot didn't need anything
  • Safety devices such as for closing the tailgate or closing the doors by motor, could also be used.
  • the described camera which is separated from the plug, results in effort in hand-eye calibration and blind travel in which the camera can no longer recognize the inlet. It is not always possible to react to disturbance events during blind driving.
  • the actuator 1502 on the receptacle of the vehicle in order to automatically move the connector from its plug-in preposition to the plug-in end position, provides a possibility for the complex seventh axis, the
  • FIGS. 15 a) -e A possible solution is outlined in FIGS. 15 a) -e).
  • the connector 2 is divided into at least two moving parts, on the one hand in the connector guide 1502 with the plug contacts 1501 PP, CP, L1, L2, L3, PE and N.
  • the plug contacts 1501 a PE, PP and CP are leading Contacts and the other in the Inlet 1510, which forms a seat in which the
  • Connector guide 1502 is mounted adjustable in the direction of insertion S. These two parts can be moved parallel to each other via a drive (actuator 1508). The complete connector guide 1502 is in the Inlet 1510 of the
  • a pre-contact PE or PP
  • This pre-contacting is evaluated and causes a drive (actuator 1508) located in connector 2 to drive connector guide 1502 as far as it will go.
  • the locking mechanism or the locking element 1507 engages there.
  • Locking opening 1509 is provided as a complementary locking element 1509. The same motor (actuator 1508) in connector 2 now pulls in
  • the connector guide 1502 again in the same relative position to the connector contacts.
  • the connector guide 1502 is locked to the vehicle via the locking mechanism 1507, 1509 and the robot is flexible, the sockets of the connector 2 slide over the pins of the inlet 1502 on the vehicle, so that all contacts are closed and the charging process can begin. Unplugging the connector is exactly the opposite.
  • the motor (actuator 1508) pushes the contacts apart until the pre-contact is just opened, the lock is released from the vehicle, the motor (actuator 1508) brings the connector guide 1502 back into the
  • the robot moves to a basic position. This is a possible one Arrangement. It is important that a good connection between the connector and the Inlet 1502 is achieved before the contacts are closed.
  • the connector guide 1502 of the connector 2 can alternatively be divided into two or more segments, each of which can be displaced or expanded along a spreading direction A. In this way, the connector guide 1502 could spread out in the inlet or complementary connector, so that the mechanical contact could take place.
  • the connector guide 1502 should be designed in such a way that it can be inserted very easily into the inlet or the complementary connector. This can e.g. done by a conical shape. The insertion process is significantly more tolerant than the previously existing narrow tolerances for manual insertion. The
  • the connector guide @@ 1502 could be divided into an inner connector guide 1504 and an outer connector guide 1505, which via one in the connector, as shown in FIG. 16a, in order to better guide the electrical contacts during the plugging process located drive can be moved parallel to each other. The electrical contacts then move together with the inner one
  • a camera 1503 integrated into connector 2 would avoid blind driving. If the size of small cameras 1503 does not allow integration into the connector 1500, the image could be transmitted via light guides to a camera (analogous to an endoscopy) that is attached to the robot at a location that is not critical to space. Lighting would either be complementary or alternatively also possible via light guides.
  • the use or arrangement of the camera 1503 is independent of the further features of the connector and can be carried out in any embodiment of the invention
  • Connector may be provided as an optional feature.
  • FIG. 17a shows a connector 2 with a handle 8, which is designed to be electrically connected to a complementary connector 3 manually or by means of a robot.
  • the complementary connector 3 can be arranged on a vehicle in order to supply it with electrical energy, which is provided on the connector 2 via the charging cable 18.
  • the connector 2 has a locking element 1507 (e.g. a bolt 1507) which is designed to engage in a complementary locking element 1509 (e.g. an opening 1509).
  • the vehicle must be unlocked from the elements 1507 and 1509 in order to release the connector 2 from the vehicle and to be able to drive the vehicle away. Initiating the unlocking via the robot controller and / or the on-board electronics of the vehicle and checking the unlocking status can be time-consuming. Unlocking can preferably also be initiated manually via a switch 1520. Preferably, a sensor 1530 can be arranged on the connector 2 and / or on the complementary connector 3, which detects the opening of the lock by measurement. In Europe, the absence of the locking bolt 1507 in the hole 1509 on connector 2 must be detected, in the USA or China, the actuation of the outside
  • Locking lever are detected.
  • the acquisition can e.g. optical, conductive, capacitive or inductive.
  • Figure 17b shows a preferred arrangement for capacitive detection of the
  • the bolt 1507 can be moved back and forth between the two parts 1530a, 1530b of a capacitive sensor.
  • FIG. 17c shows a preferred arrangement for inductive detection of the
  • FIGS. 18 a) -d) show a preferred embodiment arrangement of a connector 2 and a complementary connector 3.
  • Figure 18a shows the two connectors separated from one another.
  • Connector 2 has at least two electrical contacts 1501, 1501 a, the contact 1501 a leading or protruding from the other contact 1501 along the plug-in direction S.
  • the connector 2 has a locking element 1507 which can be actuated by an actuator, wherein the actuator can be driven by a motor or can be actuated or driven manually.
  • the connector 2 also has a further actuator 1507b, which is designed to engage with a complementary actuator 1509b of the complementary connector 3 in order to displace the connector 2 relative to the complementary connector 3 along the plugging direction when actuated.
  • the complementary connector 3 has electrical contacts 1506a, 1506b which make electrical contact by plugging the two connectors together with the associated contacts of the connector 2.
  • the complementary connector 3 has a complementary locking element 1509, which is designed to lock with the locking element 1507.
  • FIG. 18b shows both connectors 2, 3 in the plug-in preposition, the leading contact 1501a making electrical contact with the associated contact 1506b, so that an evaluation by the robot controller which
  • Charging device control and / or the on-board electronics can take place whether the plug pre-position has been reached.
  • the additional actuator 1507b of the connector 2 and the complementary actuator 1509b of the connector can take place whether the plug pre-position has been reached.
  • Complementary connector 3 comes into engagement, so that a force can be applied along the plug direction S by actuating.
  • the actuation can take place in particular by means of a motor, not shown, which can be arranged either in connector 2 or in complementary connector 3.
  • FIG. 18c shows the arrangement of the connectors 2, 3 during the actuation, wherein both connectors 2, 3 are moved to one another by motor in order to

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)

Abstract

Un aspect de l'invention concerne un robot destiné au chargement ou à l'avitaillement automatique d'un véhicule, comprenant : un bras de robot ; un effecteur terminal disposé sur le bras de robot et un connecteur disposé sur l'effecteur terminal. Le bras de robot comprend une pluralité d'éléments qui peuvent être positionnés les uns par rapport aux autres par le biais d'une ou plusieurs articulations de positionnement et de mécanismes d'entraînement de positionnement associés en vue de positionner l'effecteur terminal dans l'espace tout en appliquant une force de positionnement maximale. Le bras du robot possède une ou plusieurs articulations de poussée, et notamment des mécanismes d'entraînement de poussée associés. Le connecteur peut être enfiché au moins dans certaines zones dans un connecteur complémentaire d'un véhicule tout en appliquant une force d'enfichage maximale, laquelle est supérieure à la force de positionnement maximale. L'invention concerne également un connecteur électrique correspondant.
PCT/EP2019/079160 2018-10-26 2019-10-25 Dispositif de charge automatique d'un véhicule, notamment d'un véhicule électrique WO2020084111A2 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP19794540.5A EP3870410A2 (fr) 2018-10-26 2019-10-25 Dispositif de charge automatique d'un véhicule, notamment d'un véhicule électrique

Applications Claiming Priority (6)

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DE202018004968.9 2018-10-26
DE202018004968 2018-10-26
DE202019000698 2019-02-13
DE202019000698.2 2019-02-13
DE202019001497.7 2019-04-02
DE202019001497 2019-04-02

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Cited By (10)

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CN111959312A (zh) * 2020-07-03 2020-11-20 河南理工大学 一种电动车充电防爆充电管理监控系统及方法
EP3763557A1 (fr) * 2019-07-08 2021-01-13 Volkswagen Ag Raccordement automatisé d'une prise de charge à une interface de charge d'un véhicule
DE102020112842A1 (de) 2020-05-12 2021-11-18 Bayerische Motoren Werke Aktiengesellschaft Nachrüstfähiges konduktives Ladesystem für ein Kraftfahrzeug
CN113894802A (zh) * 2020-06-22 2022-01-07 沈阳新松机器人自动化股份有限公司 一种蛇形臂加油机器人
DE102020208783A1 (de) 2020-07-14 2022-01-20 Kuka Deutschland Gmbh Verfahren zum automatisierten Stecken eines Steckverbinders und zugehöriger Roboter
CN114475299A (zh) * 2022-02-07 2022-05-13 高堆 汽车自动充电系统
EP4019316A1 (fr) * 2020-12-22 2022-06-29 Siemens Aktiengesellschaft Connecteur de raccordement pour unités d'entraînement
WO2022175165A1 (fr) * 2021-02-19 2022-08-25 Lug Technologies Dispositif de charge de véhicules électriques
CN115137255A (zh) * 2022-06-29 2022-10-04 深圳市优必选科技股份有限公司 充电异常处理方法、装置、可读存储介质及扫地机器人
WO2024012688A1 (fr) * 2022-07-15 2024-01-18 Embotech Ag Effecteur terminal de robot de charge de véhicule automatisé pour ouvrir automatiquement des portes d'orifices de charge de véhicules électriques et brancher des câbles de charge

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DE102020112842A1 (de) 2020-05-12 2021-11-18 Bayerische Motoren Werke Aktiengesellschaft Nachrüstfähiges konduktives Ladesystem für ein Kraftfahrzeug
CN113894802A (zh) * 2020-06-22 2022-01-07 沈阳新松机器人自动化股份有限公司 一种蛇形臂加油机器人
CN111959312A (zh) * 2020-07-03 2020-11-20 河南理工大学 一种电动车充电防爆充电管理监控系统及方法
DE102020208783A1 (de) 2020-07-14 2022-01-20 Kuka Deutschland Gmbh Verfahren zum automatisierten Stecken eines Steckverbinders und zugehöriger Roboter
EP4019316A1 (fr) * 2020-12-22 2022-06-29 Siemens Aktiengesellschaft Connecteur de raccordement pour unités d'entraînement
WO2022136430A1 (fr) * 2020-12-22 2022-06-30 Siemens Aktiengesellschaft Connecteur de connexion pour unités d'entraînement
WO2022175165A1 (fr) * 2021-02-19 2022-08-25 Lug Technologies Dispositif de charge de véhicules électriques
FR3120167A1 (fr) * 2021-02-19 2022-08-26 Lug Technologies Dispositif de charge de véhicules électriques
CN114475299A (zh) * 2022-02-07 2022-05-13 高堆 汽车自动充电系统
CN115137255A (zh) * 2022-06-29 2022-10-04 深圳市优必选科技股份有限公司 充电异常处理方法、装置、可读存储介质及扫地机器人
CN115137255B (zh) * 2022-06-29 2023-11-21 深圳市优必选科技股份有限公司 充电异常处理方法、装置、可读存储介质及扫地机器人
WO2024012688A1 (fr) * 2022-07-15 2024-01-18 Embotech Ag Effecteur terminal de robot de charge de véhicule automatisé pour ouvrir automatiquement des portes d'orifices de charge de véhicules électriques et brancher des câbles de charge

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